version: 66.04
glider: 512
mission: 1
dive: 69
start: 12 23 110 2 16 59
data:
$ID,512
$MISSION,1
$DIVE,69
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,395
$T_MISSION,900
$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,420
$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,-4718.8784
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2050
$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,2490
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3150
$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
$GPS1,021225,2232.885,-15808.023,8,1.2,13,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.9
$GPS2,021607,2232.886,-15808.023,14,1.3,19,10.0
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.169,0.171
$KALMAN_X,-62305.4,512.8,510.8,66412.3,-13326.2
$KALMAN_Y,-66233.7,921.5,743.5,161973.0,-5028.5
$MHEAD_RNG_PITCHd_Wd,34.6,26290,-14.1,-8.017
$D_GRID,950
$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,-0.74,-146.0,0.0,0.0,0,109,0.00,0.00,-93.03,0.000,2,0.000,0.000,42,2552,2834
$GC,112,-0.74,-146.0,3.0,-3.2,12,145,7.95,2.28,-20.35,0.000,4,0.271,0.091,1796,3903,3747
$GC,390,-0.74,-146.0,192.0,-66.3,41,398,0.00,2.10,0.00,0.000,6,0.000,0.027,1805,2485,3747
$GC,651,-0.74,-146.0,355.4,-60.9,49,654,0.00,2.03,0.00,0.000,4,0.000,0.028,1816,1074,3748
$GC,823,-0.74,-146.0,456.3,-56.8,52,830,0.00,2.38,0.00,0.000,6,0.000,0.083,1807,2481,3749
$GC,1073,-0.74,-146.0,600.8,-58.3,59,1077,0.00,2.40,0.00,0.000,4,0.000,0.097,1796,3903,3748
$GC,1328,-0.74,-146.0,752.7,-60.4,64,1336,0.00,2.10,0.00,0.000,6,0.000,0.028,1805,2480,3744
$GC,1581,-0.74,-146.0,892.7,-55.6,71,1585,0.00,2.03,0.00,0.000,4,0.000,0.028,1816,1071,3741
$STATE,1684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1690,-0.32,0.0,951.0,54.4,73,1814,0.55,0.00,120.45,1.253,6,0.272,0.000,1934,2458,3150
$STATE,1815,end apogee,CONTROL_FINISHED_OK
$STATE,1815,begin climb
$GC,1816,0.74,146.0,1000.3,0.0,76,1953,1.67,2.62,127.35,1.272,4,0.284,0.098,2264,3862,2554
$GC,1975,0.74,146.0,1014.4,20.3,79,1982,0.00,2.20,0.00,0.000,6,0.000,0.029,2273,2455,2551
$GC,2226,0.74,146.0,971.2,17.3,86,2229,0.00,2.12,0.00,0.000,4,0.000,0.029,2275,1033,2543
$GC,2252,0.74,146.0,966.3,16.7,86,2257,0.00,2.45,0.00,0.000,6,0.000,0.084,2265,2452,2543
$GC,2513,0.74,146.0,919.3,18.1,93,2517,0.00,2.12,0.00,0.000,4,0.000,0.034,2268,1052,2540
$GC,2545,0.74,146.0,913.8,18.5,93,2550,0.00,2.45,0.00,0.000,6,0.000,0.096,2257,2452,2539
$GC,2800,0.74,146.0,869.0,17.4,100,2805,0.15,2.12,0.00,0.000,4,0.288,0.038,2288,1055,2535
$GC,2905,0.74,146.0,851.1,15.8,102,2910,0.00,2.45,0.00,0.000,6,0.000,0.100,2279,2450,2534
$GC,3178,0.74,146.0,805.7,16.6,109,3182,0.00,2.10,0.00,0.000,4,0.000,0.032,2278,1034,2530
$GC,3232,0.74,146.0,796.1,15.6,110,3237,0.00,2.40,0.00,0.000,6,0.000,0.089,2266,2449,2531
$GC,3510,0.74,146.0,749.5,16.8,117,3514,0.00,2.10,0.00,0.000,4,0.000,0.036,2263,1048,2529
$GC,3537,0.74,146.0,745.1,15.6,117,3542,0.10,2.47,0.00,0.000,6,0.255,0.108,2275,2441,2529
$GC,3797,0.74,146.0,702.3,16.6,124,3801,0.00,2.08,0.00,0.000,4,0.000,0.038,2281,1052,2526
$GC,3846,0.74,146.0,693.8,16.5,125,3851,0.00,2.33,0.00,0.000,6,0.000,0.074,2265,2455,2526
$GC,4130,0.74,146.0,644.8,17.4,132,4133,0.00,2.10,0.00,0.000,4,0.000,0.036,2263,1051,2524
$GC,4179,0.74,146.0,636.4,17.2,133,4184,0.08,2.45,0.00,0.000,6,0.262,0.106,2277,2434,2524
$GC,4462,0.74,146.0,590.3,16.1,140,4465,0.00,2.05,0.00,0.000,4,0.000,0.035,2287,1049,2523
$GC,4522,0.74,146.0,581.8,14.4,141,4527,0.00,2.47,0.00,0.000,6,0.000,0.102,2277,2456,2523
$GC,4794,0.74,146.0,543.2,13.6,148,4798,0.00,2.10,0.00,0.000,4,0.000,0.035,2285,1040,2522
$GC,4849,0.74,146.0,535.3,14.0,149,4853,0.00,2.47,0.00,0.000,6,0.000,0.100,2276,2454,2520
$GC,5128,0.74,146.0,497.3,13.6,156,5131,0.00,2.10,0.00,0.000,4,0.000,0.035,2278,1040,2520
$GC,5148,0.74,146.0,494.6,11.9,156,5153,0.00,2.45,0.00,0.000,6,0.000,0.098,2268,2451,2520
$GC,5415,0.74,146.0,459.5,13.0,163,5419,0.00,2.10,0.00,0.000,4,0.000,0.035,2265,1036,2519
$GC,5436,0.74,146.0,457.0,11.6,163,5441,0.10,2.45,0.00,0.000,6,0.285,0.099,2274,2440,2519
$GC,5702,0.74,146.0,425.9,11.3,170,5706,0.00,2.05,0.00,0.000,4,0.000,0.034,2284,1047,2518
$GC,5717,0.74,146.0,423.8,10.8,170,5722,0.00,2.45,0.00,0.000,6,0.000,0.097,2275,2451,2519
$GC,5989,0.74,146.0,393.9,10.9,177,5993,0.00,2.10,0.00,0.000,4,0.000,0.036,2275,1044,2518
$GC,6246,0.74,146.0,363.4,12.3,182,6251,0.00,2.38,0.00,0.000,6,0.000,0.087,2265,2436,2517
$GC,6502,0.74,146.0,335.2,10.4,189,6506,0.00,2.42,0.00,0.000,4,0.000,0.094,2254,3874,2518
$GC,6556,0.74,146.0,329.7,10.0,190,6561,0.00,2.12,0.00,0.000,6,0.000,0.034,2262,2467,2517
$GC,6828,0.76,163.5,308.1,7.4,197,6843,0.12,2.45,9.15,0.784,4,0.279,0.101,2277,3870,2483
$GC,7022,0.76,163.5,284.5,14.3,201,7027,0.00,2.15,0.00,0.000,6,0.000,0.034,2285,2455,2482
$GC,7294,0.76,163.5,255.4,9.8,208,7298,0.00,2.47,0.00,0.000,4,0.000,0.100,2277,3878,2482
$GC,7444,0.82,208.0,243.4,6.4,211,7489,0.00,2.17,38.03,0.797,6,0.000,0.033,2286,2440,2301
$GC,7750,0.82,208.0,198.9,15.7,219,7754,0.00,2.10,0.00,0.000,4,0.000,0.035,2296,1045,2294
$GC,7796,0.82,208.0,191.8,16.1,223,7800,0.00,2.45,0.00,0.000,6,0.000,0.095,2287,2462,2294
$GC,8058,0.82,208.0,149.1,15.6,247,8062,0.00,2.12,0.00,0.000,4,0.000,0.031,2288,1040,2294
$GC,8105,0.82,208.0,143.0,13.9,251,8110,0.15,2.35,0.00,0.000,6,0.302,0.078,2304,2453,2294
$GC,8368,0.82,208.0,112.7,11.2,275,8372,0.00,2.10,0.00,0.000,4,0.000,0.031,2314,1029,2294
$GC,8380,0.82,208.0,111.4,9.9,276,8384,0.00,2.42,0.00,0.000,6,0.000,0.090,2304,2455,2294
$GC,8641,0.88,256.3,96.8,6.2,300,8690,0.00,2.47,39.20,0.658,4,0.000,0.091,2293,3863,2103
$GC,8747,0.88,256.3,80.3,18.8,309,8752,0.12,2.15,0.00,0.000,6,0.250,0.033,2323,2449,2101
$GC,9009,0.88,256.3,34.8,17.4,333,9014,0.00,2.53,0.00,0.000,4,0.000,0.109,2314,3865,2100
$GC,9031,0.88,256.3,30.9,16.5,334,9039,0.00,2.17,0.00,0.000,6,0.000,0.031,2317,2441,2099
$STATE,9187,end climb,SURFACE_DEPTH_REACHED
$STATE,9187,begin surface coast
$FINISH,0.2,1.023520
$STATE,9206,end surface coast,CONTROL_FINISHED_OK
$STATE,9206,begin surface
$SM_CCo,9219,74.28,0.594,0,0,1436,420.19
$SM_GC,1.51,0.00,0.00,74.28,0.000,0.000,0.594,52,2525,1436,-6.24,0.99,420.19
$IRIDIUM_FIX,2225.34,-15810.18,180300,020244
$TT8_MAMPS,0.023777
$HUMID,1828
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.2,15.385
$10V_AH,10.7,8.273
$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,17.175,118.200,334.175,74.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.884,834.355,6386.173,495.901,1572.656,79.901,33.351,1218.885,0.000,1551.070,0.000,0.544,0.000
$DEVICE_MAMPS,302.198,108.914,1271.686,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,247.387,506.022,519.972,111.632,462.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31998,366
$CAP_FILE_SIZE,130832,0
$CFSIZE,260165632,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,231210,045306,2232.904,-15808.245,40,0.9,40,10.0