version: 66.04
glider: 512
mission: 1
dive: 26
start: 12 15 110 18 15 58
data:
$ID,512
$MISSION,1
$DIVE,26
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$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,266
$T_MISSION,460
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,470
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3568.4709
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2737
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,180956,2146.765,-15809.222,13,1.8,13,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.8
$GPS2,181508,2146.785,-15809.232,12,1.9,12,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.027,0.259
$KALMAN_X,7626.8,-1415.7,2166.1,-5295.1,4051.5
$KALMAN_Y,-12003.2,-1638.2,-2613.9,28322.1,-7177.7
$MHEAD_RNG_PITCHd_Wd,356.0,108960,-17.5,-10.025
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-70.32,0.000,2,0.000,0.000,53,2423,3165
$GC,88,-0.88,-146.0,3.4,-4.6,9,120,11.25,2.22,-13.85,0.000,4,0.282,0.074,2431,3810,3944
$GC,365,-0.88,-146.0,142.8,-44.9,37,369,0.00,2.10,0.00,0.000,6,0.000,0.029,2440,2391,3946
$GC,654,-0.88,-146.0,266.3,-40.2,53,658,0.00,2.25,0.00,0.000,4,0.000,0.059,2430,3805,3947
$GC,714,-0.88,-146.0,288.1,-37.6,54,719,0.00,2.10,0.00,0.000,6,0.000,0.027,2438,2388,3948
$GC,988,-0.88,-146.0,378.4,-32.1,61,992,0.00,2.28,0.00,0.000,4,0.000,0.064,2429,3809,3948
$GC,1132,-0.88,-146.0,422.2,-28.2,64,1137,0.00,2.08,0.00,0.000,6,0.000,0.029,2437,2405,3948
$GC,1405,-0.88,-146.0,502.3,-29.0,71,1409,0.00,2.25,0.00,0.000,4,0.000,0.066,2427,3805,3946
$GC,1583,-0.88,-146.0,551.9,-25.3,75,1588,0.00,2.12,0.00,0.000,6,0.000,0.031,2427,2396,3945
$GC,1867,-0.88,-146.0,629.4,-27.2,82,1871,0.00,2.28,0.00,0.000,4,0.000,0.071,2416,3796,3942
$GC,1972,-0.88,-146.0,658.0,-26.3,84,1977,0.10,2.10,0.00,0.000,6,0.211,0.032,2446,2396,3940
$GC,2245,-0.88,-146.0,724.5,-24.1,91,2249,0.00,2.28,0.00,0.000,4,0.000,0.071,2437,3801,3938
$GC,2389,-0.88,-146.0,759.4,-24.0,94,2393,0.00,2.10,0.00,0.000,6,0.000,0.033,2444,2416,3935
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2578,begin apogee
$GC,2582,-0.32,0.0,806.0,24.7,99,2704,0.68,0.00,118.93,1.183,6,0.200,0.000,2629,2299,3347
$STATE,2705,end apogee,CONTROL_FINISHED_OK
$STATE,2705,begin climb
$GC,2706,0.88,146.0,816.4,0.0,102,2839,1.27,2.38,125.32,1.154,4,0.145,0.058,3000,3697,2750
$GC,3093,0.88,149.0,804.7,9.9,111,3097,0.00,2.12,0.00,0.000,6,0.000,0.034,3009,2298,2742
$GC,3383,0.95,204.8,782.3,7.4,118,3438,0.00,2.35,49.38,1.151,4,0.000,0.059,3010,3704,2511
$GC,3550,0.95,204.8,757.4,18.8,121,3557,0.00,2.17,0.00,0.000,6,0.000,0.034,3020,2315,2506
$GC,3799,0.95,204.8,714.6,16.9,128,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2311,2503
$GC,4043,0.95,204.8,671.7,17.6,134,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2310,2500
$GC,4287,0.95,204.8,628.5,17.5,140,4291,0.00,2.22,0.00,0.000,4,0.000,0.058,3020,3704,2498
$GC,4397,0.95,204.8,607.3,19.2,142,4403,0.00,2.15,0.00,0.000,6,0.000,0.035,3031,2297,2497
$GC,4664,0.95,204.8,562.7,16.3,149,4668,0.00,2.12,0.00,0.000,4,0.000,0.039,3042,879,2496
$GC,4776,0.95,204.8,545.4,15.2,151,4780,0.00,2.20,0.00,0.000,6,0.000,0.051,3040,2294,2496
$GC,5043,0.95,204.8,506.9,14.0,158,5046,0.00,2.25,0.00,0.000,4,0.000,0.060,3041,3713,2495
$GC,5052,0.95,204.8,505.4,13.6,158,5057,0.00,2.15,0.00,0.000,6,0.000,0.035,3050,2297,2494
$GC,5330,0.95,204.8,469.1,13.0,165,5334,0.00,2.25,0.00,0.000,4,0.000,0.059,3050,3708,2493
$GC,5469,0.95,204.8,449.3,13.4,168,5474,0.00,2.12,0.00,0.000,6,0.000,0.035,3060,2309,2493
$GC,5752,0.95,204.8,409.6,14.9,175,5756,0.00,2.12,0.00,0.000,4,0.000,0.038,3072,881,2492
$GC,5779,0.95,204.8,406.2,12.5,175,5784,0.00,2.22,0.00,0.000,6,0.000,0.050,3067,2299,2492
$GC,6040,0.95,204.8,371.4,13.3,182,6044,0.00,2.22,0.00,0.000,4,0.000,0.057,3067,3717,2491
$GC,6089,0.95,204.8,364.7,14.3,183,6094,0.10,2.15,0.00,0.000,6,0.268,0.035,3053,2307,2491
$GC,6372,0.95,204.8,334.0,10.9,190,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2302,2490
$GC,6616,0.95,204.8,306.2,11.1,196,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2302,2490
$GC,6859,0.99,238.5,283.9,8.5,202,6890,0.00,2.15,25.62,0.912,4,0.000,0.037,3063,881,2374
$GC,6910,0.99,238.5,279.3,10.3,203,6915,0.00,2.25,0.00,0.000,6,0.000,0.049,3063,2295,2372
$GC,7183,0.99,238.5,243.7,13.7,210,7187,0.00,2.25,0.00,0.000,4,0.000,0.057,3062,3714,2369
$GC,7276,0.99,238.5,229.8,14.6,212,7282,0.00,2.17,0.00,0.000,6,0.000,0.034,3073,2293,2368
$GC,7560,0.99,238.5,201.0,10.0,219,7564,0.00,2.25,0.00,0.000,4,0.000,0.056,3067,3712,2367
$GC,7650,0.99,238.5,190.3,12.5,224,7654,0.00,2.12,0.00,0.000,6,0.000,0.033,3076,2292,2367
$GC,7910,0.99,238.5,164.0,11.0,248,7914,0.00,2.25,0.00,0.000,4,0.000,0.058,3077,3710,2366
$GC,8094,1.00,241.0,146.6,9.9,264,8098,0.00,2.10,0.00,0.000,6,0.000,0.032,3086,2295,2367
$GC,8362,1.08,305.3,127.1,7.1,289,8424,0.00,2.15,55.08,0.795,4,0.000,0.033,3097,884,2101
$GC,8672,1.08,305.3,79.6,11.7,316,8681,0.00,2.25,0.00,0.000,6,0.000,0.046,3097,2294,2094
$GC,8935,1.08,305.3,43.2,15.2,341,8939,0.00,2.10,0.00,0.000,4,0.000,0.033,3106,886,2093
$GC,9023,1.08,305.3,30.0,13.6,349,9027,0.00,2.20,0.00,0.000,6,0.000,0.044,3106,2312,2094
$STATE,9203,end climb,SURFACE_DEPTH_REACHED
$STATE,9203,begin surface coast
$FINISH,-0.1,1.023461
$STATE,9220,end surface coast,CONTROL_FINISHED_OK
$STATE,9220,begin surface
$SM_CCo,9235,80.53,0.647,0,0,1428,470.23
$SM_GC,1.33,0.00,0.00,80.53,0.000,0.000,0.647,53,2442,1428,-8.39,1.19,470.23
$IRIDIUM_FIX,2136.49,-15807.61,100300,171724
$TT8_MAMPS,0.023777
$HUMID,1761
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.3,8.215
$10V_AH,10.7,3.862
$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,21.900,87.875,374.325,80.525,0.000,27.499,32.902,185.130,0.250,0.000,0.000,12.988,853.979,6309.416,500.194,1653.516,328.391,33.307,1219.172,0.000,1640.426,0.000,0.544,0.000
$DEVICE_MAMPS,282.256,73.632,1182.714,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.899,557.357,574.335,115.985,503.296,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31849,385
$CAP_FILE_SIZE,80919,0
$CFSIZE,260165632,258650112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,151210,205230,2147.505,-15809.066,37,1.0,43,9.9