version: 66.04
glider: 512
mission: 1
dive: 27
start: 12 15 110 21 10 29
data:
$ID,512
$MISSION,1
$DIVE,27
$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,-3584.2888
$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,43
$R_STBD_OVSHOOT,52
$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
$GPS1,205230,2147.505,-15809.066,37,1.0,43,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.7
$GPS2,210938,2147.590,-15809.159,15,1.4,15,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.006,0.260
$KALMAN_X,15914.9,-6987.8,-934.4,-4786.8,12675.0
$KALMAN_Y,-27855.3,8362.6,689.7,32364.4,-19425.7
$MHEAD_RNG_PITCHd_Wd,351.5,107468,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,80,0.00,0.00,-63.12,0.000,2,0.000,0.000,51,2441,3124
$GC,82,-0.88,-146.0,3.8,-8.2,8,114,11.38,2.20,-14.40,0.000,4,0.282,0.076,2427,3789,3944
$GC,323,-0.88,-146.0,127.6,-43.0,33,327,0.00,2.08,0.00,0.000,6,0.000,0.028,2436,2394,3945
$GC,615,-0.88,-146.0,251.7,-39.5,52,619,0.00,2.28,0.00,0.000,4,0.000,0.070,2426,3780,3947
$GC,704,-0.88,-146.0,283.5,-31.8,54,708,0.00,2.05,0.00,0.000,6,0.000,0.028,2426,2387,3947
$GC,993,-0.88,-146.0,379.6,-32.8,61,997,0.00,2.28,0.00,0.000,4,0.000,0.068,2416,3786,3947
$GC,1098,-0.88,-146.0,414.5,-30.5,63,1103,0.00,2.08,0.00,0.000,6,0.000,0.030,2424,2396,3946
$GC,1365,-0.88,-146.0,496.0,-30.3,70,1369,0.12,2.25,0.00,0.000,4,0.227,0.072,2441,3777,3945
$GC,1526,-0.88,-146.0,539.0,-25.6,73,1530,0.00,2.05,0.00,0.000,6,0.000,0.031,2449,2409,3944
$GC,1786,-0.88,-146.0,606.1,-25.9,80,1790,0.00,2.25,0.00,0.000,4,0.000,0.072,2440,3785,3941
$GC,1897,-0.88,-146.0,633.7,-22.9,82,1902,0.00,2.08,0.00,0.000,6,0.000,0.033,2445,2403,3938
$GC,2164,-0.88,-146.0,698.2,-23.9,89,2168,0.00,2.25,0.00,0.000,4,0.000,0.073,2436,3778,3936
$GC,2354,-0.88,-146.0,743.1,-22.2,93,2358,0.00,2.08,0.00,0.000,6,0.000,0.035,2443,2401,3933
$STATE,2630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2630,begin apogee
$GC,2634,-0.32,0.0,809.0,23.8,100,2758,0.68,0.00,121.05,1.245,6,0.201,0.000,2628,2301,3347
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin climb
$GC,2760,0.88,146.0,820.1,0.0,103,2894,1.30,2.38,126.47,1.187,4,0.143,0.061,3010,3684,2751
$GC,3148,0.92,180.1,814.0,8.5,112,3182,0.00,2.12,29.77,1.142,6,0.000,0.035,3021,2290,2612
$GC,3431,0.92,180.1,778.8,13.2,119,3435,0.00,2.28,0.00,0.000,4,0.000,0.061,3020,3681,2605
$GC,3688,0.92,180.1,738.5,16.1,124,3693,0.00,2.10,0.00,0.000,6,0.000,0.035,3031,2315,2603
$GC,3945,0.92,180.1,702.5,14.1,131,3949,0.00,2.22,0.00,0.000,4,0.000,0.060,3028,3690,2600
$GC,4170,0.92,180.1,667.8,15.9,136,4174,0.00,2.10,0.00,0.000,6,0.000,0.035,3037,2293,2599
$GC,4458,0.92,180.1,627.5,13.5,143,4462,0.00,2.22,0.00,0.000,4,0.000,0.060,3036,3681,2596
$GC,4686,0.92,180.1,596.8,12.8,148,4691,0.00,2.10,0.00,0.000,6,0.000,0.035,3046,2300,2595
$GC,4970,0.92,180.1,565.7,10.9,155,4974,0.00,2.10,0.00,0.000,4,0.000,0.039,3058,894,2593
$GC,5007,0.92,180.1,561.7,10.6,155,5016,0.00,2.17,0.00,0.000,6,0.000,0.052,3054,2266,2593
$GC,5257,0.92,180.1,536.1,10.1,162,5261,0.00,2.30,0.00,0.000,4,0.000,0.060,3054,3717,2592
$GC,5278,0.92,180.1,533.6,11.4,162,5283,0.00,2.15,0.00,0.000,6,0.000,0.036,3063,2302,2591
$GC,5545,0.92,180.1,504.0,11.1,169,5549,0.00,2.12,0.00,0.000,4,0.000,0.038,3074,883,2591
$GC,5802,0.92,180.1,475.3,10.3,174,5807,0.10,2.25,0.00,0.000,6,0.260,0.051,3044,2307,2590
$GC,6058,0.95,205.1,451.7,8.9,181,6089,0.00,2.22,20.52,0.933,4,0.000,0.058,3041,3710,2510
$GC,6300,0.95,205.1,420.6,13.1,186,6305,0.00,2.15,0.00,0.000,6,0.000,0.035,3050,2310,2507
$GC,6561,0.95,205.1,389.7,11.7,193,6565,0.00,2.25,0.00,0.000,4,0.000,0.061,3050,3707,2505
$GC,6773,0.95,205.1,362.4,11.1,197,6778,0.00,2.15,0.00,0.000,6,0.000,0.035,3061,2298,2505
$GC,7029,0.97,214.9,337.1,9.6,204,7043,0.00,2.30,9.18,0.857,4,0.000,0.061,3062,3705,2470
$GC,7296,0.97,214.9,303.4,14.9,210,7300,0.00,2.12,0.00,0.000,6,0.000,0.035,3073,2292,2469
$GC,7586,0.97,215.1,271.7,10.0,217,7589,0.00,2.10,0.00,0.000,4,0.000,0.038,3083,885,2468
$GC,7842,1.04,271.8,247.7,7.4,222,7896,0.00,2.22,48.72,0.878,6,0.000,0.051,3083,2293,2238
$GC,8138,1.04,271.8,201.3,17.5,230,8142,0.00,2.15,0.00,0.000,4,0.000,0.038,3092,888,2230
$GC,8395,1.04,271.8,160.1,17.2,250,8399,0.00,2.22,0.00,0.000,6,0.000,0.051,3092,2299,2229
$GC,8662,1.04,271.8,121.4,13.9,275,8666,0.00,2.12,0.00,0.000,4,0.000,0.035,3103,878,2227
$GC,8798,1.04,271.8,102.4,12.3,287,8807,0.00,2.22,0.00,0.000,6,0.000,0.047,3097,2294,2227
$GC,9061,1.06,288.1,79.6,9.3,312,9082,0.00,0.00,13.27,0.660,6,0.000,0.000,3097,2294,2171
$GC,9336,1.06,288.1,46.9,11.7,338,9340,0.00,2.12,0.00,0.000,4,0.000,0.033,3106,881,2170
$GC,9536,1.06,288.1,22.1,11.7,362,9544,0.00,2.22,0.00,0.000,6,0.000,0.044,3106,2304,2169
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9692,begin surface coast
$FINISH,0.3,1.023371
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9716,begin surface
$SM_CCo,9731,89.85,0.611,0,0,1429,470.23
$SM_GC,1.28,0.00,0.00,89.85,0.000,0.000,0.611,54,2419,1429,-8.38,0.51,470.23
$IRIDIUM_FIX,2138.81,-15807.61,100300,212121
$TT8_MAMPS,0.023777
$HUMID,1716
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.1,8.387
$10V_AH,10.7,3.958
$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,22.050,87.375,369.000,89.850,0.000,119.651,145.913,482.823,0.000,0.000,0.000,15.190,925.679,6607.098,511.301,1954.947,860.072,33.326,1341.392,0.000,1932.997,0.000,0.543,0.000
$DEVICE_MAMPS,282.256,80.535,1244.841,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,268.057,562.169,580.858,122.361,535.281,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31833,395
$CAP_FILE_SIZE,99111,0
$CFSIZE,260165632,258584576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,151210,235516,2148.371,-15809.260,13,3.7,32,9.9