version: 66.04
glider: 512
mission: 2
dive: 62
start: 8 21 111 20 8 43
data:
$ID,512
$MISSION,2
$DIVE,62
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33756.27
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,195537,2216.297,-15756.804,41,1.2,41,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-77.3
$GPS2,200749,2216.277,-15756.852,12,1.7,12,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.056,0.228
$KALMAN_X,7933.8,-238.9,-11.6,-9909.6,870.4
$KALMAN_Y,-23851.2,154.7,235.3,47589.2,-2800.6
$MHEAD_RNG_PITCHd_Wd,336.3,53467,-19.8,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.80,-116.8,0.0,0.0,0,93,0.00,0.00,-67.90,0.000,2,0.000,0.000,46,2453,3167
$GC,99,-0.80,-116.8,3.5,-5.7,9,124,8.18,2.25,-6.85,0.000,4,0.206,0.054,2237,3894,3550
$GC,233,-0.80,-116.8,52.5,-26.4,25,242,0.00,2.08,0.00,0.000,6,0.000,0.025,2237,2511,3551
$GC,498,-0.80,-116.8,121.8,-21.7,50,501,0.00,2.08,0.00,0.000,4,0.000,0.026,2237,1081,3553
$GC,526,-0.80,-116.8,127.6,-19.9,52,535,0.00,2.17,0.00,0.000,6,0.000,0.038,2226,2489,3553
$GC,791,-0.80,-116.8,175.8,-17.1,77,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2489,3554
$GC,1060,-0.80,-116.8,220.4,-16.3,94,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2489,3554
$GC,1303,-0.80,-116.8,258.8,-15.6,100,1307,0.00,2.17,0.00,0.000,4,0.000,0.048,2215,3905,3554
$GC,1334,-0.80,-116.8,263.7,-16.6,100,1338,0.12,2.08,0.00,0.000,6,0.128,0.024,2251,2478,3555
$GC,1591,-0.80,-116.8,295.4,-12.1,107,1595,0.00,2.00,0.00,0.000,4,0.000,0.028,2251,1084,3554
$GC,1655,-0.80,-116.8,302.4,-10.4,108,1658,0.00,2.12,0.00,0.000,6,0.000,0.041,2247,2491,3553
$GC,1930,-0.80,-116.8,333.0,-11.2,115,1934,0.00,2.17,0.00,0.000,4,0.000,0.051,2236,3905,3551
$GC,2016,-0.80,-116.8,342.7,-10.1,116,2022,0.00,2.08,0.00,0.000,6,0.000,0.025,2236,2488,3551
$GC,2268,-0.80,-116.8,370.2,-10.8,123,2272,0.00,2.20,0.00,0.000,4,0.000,0.050,2225,3899,3550
$GC,2298,-0.80,-116.8,373.7,-11.9,123,2302,0.00,2.08,0.00,0.000,6,0.000,0.026,2225,2485,3549
$GC,2562,-0.80,-116.8,404.1,-11.6,130,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2478,3548
$GC,2806,-0.80,-116.8,432.2,-11.5,136,2809,0.00,2.22,0.00,0.000,4,0.000,0.051,2214,3904,3546
$GC,2858,-0.80,-116.8,439.0,-12.6,137,2863,0.12,2.10,0.00,0.000,6,0.126,0.028,2250,2481,3546
$GC,3138,-0.80,-116.8,463.7,-8.6,144,3142,0.00,2.03,0.00,0.000,4,0.000,0.031,2251,1083,3543
$GC,3219,-0.80,-116.8,470.5,-8.4,145,3223,0.00,2.15,0.00,0.000,6,0.000,0.044,2250,2488,3543
$GC,3477,-0.80,-116.8,494.5,-9.6,152,3480,0.00,2.20,0.00,0.000,4,0.000,0.054,2239,3908,3541
$GC,3552,-0.80,-116.8,502.1,-9.5,153,3556,0.00,2.10,0.00,0.000,6,0.000,0.028,2238,2485,3540
$GC,3816,-0.80,-116.8,531.3,-11.2,160,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2478,3539
$GC,4061,-0.80,-116.8,557.6,-10.7,166,4065,0.00,2.25,0.00,0.000,4,0.000,0.057,2234,3909,3536
$GC,4103,-0.80,-116.8,562.2,-10.1,167,4106,0.00,2.10,0.00,0.000,6,0.000,0.029,2234,2491,3536
$GC,4395,-0.80,-116.8,592.8,-10.5,174,4399,0.00,2.05,0.00,0.000,4,0.000,0.032,2234,1087,3534
$GC,4448,-0.80,-116.8,598.1,-9.4,175,4451,0.00,2.15,0.00,0.000,6,0.000,0.046,2224,2490,3534
$GC,4733,-0.80,-116.8,627.1,-10.1,182,4737,0.00,2.20,0.00,0.000,4,0.000,0.057,2213,3903,3532
$GC,4797,-0.80,-116.8,633.3,-9.0,183,4802,0.12,2.10,0.00,0.000,6,0.123,0.031,2250,2491,3531
$GC,5067,-0.80,-116.8,652.1,-6.8,190,5070,0.00,2.08,0.00,0.000,4,0.000,0.034,2251,1074,3529
$GC,5108,-0.80,-116.8,655.0,-6.2,190,5115,0.00,2.20,0.00,0.000,6,0.000,0.048,2250,2483,3529
$GC,5360,-0.80,-116.8,672.7,-7.2,197,5364,0.00,2.22,0.00,0.000,4,0.000,0.058,2238,3904,3528
$GC,5421,-0.80,-116.8,677.2,-7.6,198,5425,0.00,2.12,0.00,0.000,6,0.000,0.031,2239,2476,3528
$GC,5702,-0.80,-116.8,700.1,-8.3,205,5705,0.00,2.05,0.00,0.000,4,0.000,0.035,2238,1078,3525
$GC,5751,-0.80,-116.8,704.2,-8.0,206,5754,0.00,2.17,0.00,0.000,6,0.000,0.048,2236,2490,3526
$GC,6045,-0.80,-116.8,729.5,-8.6,213,6048,0.00,2.22,0.00,0.000,4,0.000,0.059,2232,3907,3523
$GC,6109,-0.80,-116.8,735.1,-8.1,214,6112,0.00,2.12,0.00,0.000,6,0.000,0.032,2232,2483,3523
$GC,6386,-0.80,-116.8,759.1,-8.8,221,6390,0.00,2.05,0.00,0.000,4,0.000,0.035,2232,1087,3522
$GC,6435,-0.80,-116.8,763.5,-8.2,222,6439,0.00,2.17,0.00,0.000,6,0.000,0.049,2223,2494,3522
$GC,6721,-0.80,-116.8,788.9,-8.9,229,6724,0.00,2.20,0.00,0.000,4,0.000,0.058,2213,3897,3521
$GC,6784,-0.80,-116.8,794.9,-8.8,230,6789,0.12,2.12,0.00,0.000,6,0.128,0.032,2249,2476,3520
$GC,7059,-0.80,-116.8,814.1,-6.9,237,7063,0.00,2.28,0.00,0.000,4,0.000,0.061,2240,3901,3520
$GC,7095,-0.80,-116.8,816.7,-7.5,237,7101,0.00,2.12,0.00,0.000,6,0.000,0.032,2240,2478,3520
$GC,7348,-0.80,-116.8,835.5,-7.4,244,7351,0.00,2.05,0.00,0.000,4,0.000,0.035,2240,1085,3519
$GC,7378,-0.80,-116.8,837.8,-8.0,244,7382,0.00,2.17,0.00,0.000,6,0.000,0.049,2237,2488,3519
$GC,7644,-0.80,-116.8,857.2,-7.4,251,7647,0.00,2.22,0.00,0.000,4,0.000,0.062,2236,3899,3517
$GC,7707,-0.80,-116.8,862.1,-7.2,252,7711,0.00,2.12,0.00,0.000,6,0.000,0.033,2236,2479,3517
$GC,7982,-0.80,-116.8,883.1,-7.7,259,7986,0.00,2.05,0.00,0.000,4,0.000,0.036,2235,1088,3516
$GC,8019,-0.80,-116.8,886.0,-7.7,259,8023,0.00,2.17,0.00,0.000,6,0.000,0.051,2236,2490,3516
$STATE,8225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8225,begin apogee
$GC,8237,-0.27,0.0,902.2,7.8,264,8334,0.57,0.00,94.45,1.303,6,0.114,0.000,2428,2413,3071
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8340,0.80,116.8,904.7,0.0,266,8463,0.90,0.00,111.32,1.252,6,0.043,0.000,2773,2413,2592
$GC,8708,0.80,116.8,871.2,18.2,275,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2413,2582
$GC,8952,0.80,116.8,828.9,17.5,281,8957,0.00,2.28,0.00,0.000,4,0.000,0.050,2768,3840,2579
$GC,8965,0.80,116.8,826.5,17.3,281,8969,0.00,2.15,0.00,0.000,6,0.000,0.030,2777,2422,2579
$GC,9240,0.80,116.8,781.9,16.0,288,9244,0.00,2.25,0.00,0.000,4,0.000,0.050,2778,3847,2577
$GC,9388,0.80,116.8,756.2,17.2,291,9392,0.00,2.15,0.00,0.000,6,0.000,0.031,2788,2410,2577
$GC,9670,0.80,116.8,713.1,14.9,298,9674,0.00,2.25,0.00,0.000,4,0.000,0.050,2781,3842,2575
$GC,9688,0.80,116.8,709.7,15.1,298,9692,0.00,2.15,0.00,0.000,6,0.000,0.031,2790,2411,2575
$GC,9958,0.80,116.8,669.5,14.9,305,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2405,2574
$GC,10202,0.80,116.8,633.4,15.0,311,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2405,2574
$GC,10444,0.80,116.8,597.6,14.7,317,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2405,2573
$GC,10688,0.80,116.8,566.5,12.5,323,10692,0.00,2.08,0.00,0.000,4,0.000,0.035,2800,1005,2572
$GC,10706,0.80,116.8,564.1,11.9,323,10710,0.00,2.17,0.00,0.000,6,0.000,0.042,2796,2430,2572
$GC,10975,0.80,116.8,530.8,12.4,330,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2430,2572
$GC,11219,0.80,116.8,502.1,11.6,336,11223,0.00,2.17,0.00,0.000,4,0.000,0.051,2793,3828,2571
$GC,11480,0.80,117.4,472.3,10.0,341,11485,0.15,2.10,0.00,0.000,6,0.231,0.032,2770,2419,2570
$GC,11733,0.86,160.2,452.0,7.5,347,11773,0.00,2.20,35.03,1.010,4,0.000,0.035,2779,1010,2416
$GC,11803,0.86,160.2,444.9,12.5,348,11807,0.00,2.22,0.00,0.000,6,0.000,0.041,2779,2427,2414
$GC,12061,0.86,160.2,404.4,15.9,355,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2427,2410
$GC,12306,0.86,160.2,365.2,15.8,361,12309,0.00,2.20,0.00,0.000,4,0.000,0.053,2779,3826,2409
$GC,12324,0.86,160.2,361.9,15.8,361,12328,0.00,2.12,0.00,0.000,6,0.000,0.031,2788,2424,2408
$GC,12600,0.86,160.2,324.0,12.9,368,12603,0.00,2.20,0.00,0.000,4,0.000,0.048,2781,3830,2408
$GC,12635,0.86,160.2,319.0,14.6,368,12639,0.00,2.12,0.00,0.000,6,0.000,0.031,2789,2415,2407
$GC,12893,0.86,160.2,285.0,12.9,375,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2409,2407
$GC,13137,0.86,160.2,251.9,13.6,381,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2409,2407
$GC,13379,0.86,160.2,223.0,11.4,387,13383,0.00,2.08,0.00,0.000,4,0.000,0.035,2800,1010,2407
$GC,13641,0.86,160.2,196.7,10.0,392,13645,0.00,2.15,0.00,0.000,6,0.000,0.040,2793,2421,2406
$GC,13911,0.91,200.6,173.9,7.7,417,13949,0.00,2.20,33.42,0.792,4,0.000,0.032,2802,1004,2252
$GC,14200,0.91,200.6,137.9,12.3,442,14203,0.00,2.17,0.00,0.000,6,0.000,0.038,2793,2421,2246
$GC,14472,0.91,200.6,99.1,15.5,467,14475,0.00,2.17,0.00,0.000,4,0.000,0.048,2793,3828,2244
$GC,14621,0.91,200.6,77.5,12.1,480,14625,0.00,2.10,0.00,0.000,6,0.000,0.028,2802,2414,2244
$GC,14893,1.13,384.0,63.6,-0.6,505,15047,0.17,2.33,145.20,0.660,4,0.081,0.044,2874,3830,1505
$GC,15131,1.13,384.0,7.7,36.9,529,15140,0.00,2.20,0.00,0.000,6,0.000,0.030,2884,2425,1500
$STATE,15146,end climb,SURFACE_DEPTH_REACHED
$STATE,15146,begin surface coast
$FINISH,0.0,1.011106
$STATE,15153,end surface coast,CONTROL_FINISHED_OK
$STATE,15153,begin surface
$SM_CCo,15179,13.07,0.559,0,0,1397,410.13
$SM_GC,0.63,0.00,0.00,13.07,0.000,0.000,0.559,43,2504,1397,-7.71,0.40,410.13
$IRIDIUM_FIX,2209.02,-15755.05,141100,202021
$TT8_MAMPS,0.023777
$HUMID,2104
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,22.40
$XPDR_PINGS,6
$24V_AH,24.0,8.843
$10V_AH,10.7,7.150
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.000,146.525,419.425,13.075,0.000,58.169,83.487,333.017,1.500,0.000,0.000,12.238,1164.839,11254.933,487.426,1941.495,1073.939,33.364,1407.069,0.000,1920.853,0.000,0.544,0.000
$DEVICE_MAMPS,230.867,73.632,1303.133,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,360.205,651.807,670.814,111.607,513.757,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44529,532
$CAP_FILE_SIZE,120665,0
$CFSIZE,260165632,214044672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,1
$GPS,220811,002325,2217.516,-15757.008,40,1.9,40,10.0