version: 66.04
glider: 512
mission: 1
dive: 70
start: 12 23 110 5 5 44
data:
$ID,512
$MISSION,1
$DIVE,70
$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,-4733.3057
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,045306,2232.904,-15808.245,40,0.9,40,10.0
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.5
$GPS2,050450,2232.891,-15808.232,13,1.7,13,10.0
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.176,0.164
$KALMAN_X,-65582.1,257.7,743.1,69341.8,-17527.0
$KALMAN_Y,-68636.3,423.5,-235.7,165903.0,-7047.4
$MHEAD_RNG_PITCHd_Wd,37.1,26470,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-62.45,0.000,2,0.000,0.000,48,2525,3087
$GC,81,-0.74,-146.0,3.5,-4.7,8,114,8.10,2.30,-13.10,0.000,4,0.275,0.097,1792,3873,3749
$GC,359,-0.74,-146.0,199.6,-68.1,36,368,0.00,2.08,0.00,0.000,6,0.000,0.032,1800,2507,3750
$GC,608,-0.74,-146.0,355.9,-61.6,43,612,0.00,2.10,0.00,0.000,4,0.000,0.028,1812,1062,3752
$GC,618,-0.74,-146.0,362.5,-61.2,43,623,0.00,2.35,0.00,0.000,6,0.000,0.073,1803,2469,3752
$GC,896,-0.74,-146.0,531.6,-60.6,50,900,0.00,2.38,0.00,0.000,4,0.000,0.081,1793,3906,3752
$GC,1152,-0.74,-146.0,683.2,-57.4,55,1160,0.00,2.12,0.00,0.000,6,0.000,0.030,1800,2484,3751
$GC,1402,-0.74,-146.0,822.8,-55.9,62,1406,0.00,2.05,0.00,0.000,4,0.000,0.030,1811,1074,3748
$GC,1529,-0.74,-146.0,891.6,-52.0,64,1537,0.00,2.38,0.00,0.000,6,0.000,0.080,1803,2478,3747
$STATE,1656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1656,begin apogee
$GC,1660,-0.32,0.0,960.7,54.6,68,1786,0.62,0.00,123.47,1.283,6,0.272,0.000,1940,2477,3150
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1789,0.74,146.0,1015.2,0.0,71,1926,1.65,2.30,129.02,1.299,4,0.284,0.034,2282,1053,2554
$GC,2121,0.74,146.0,998.1,16.7,78,2126,0.00,2.40,0.00,0.000,6,0.000,0.073,2271,2455,2546
$GC,2377,0.74,146.0,954.5,17.3,85,2381,0.00,2.15,0.00,0.000,4,0.000,0.037,2274,1045,2541
$GC,2499,0.74,146.0,932.8,16.8,87,2504,0.00,2.40,0.00,0.000,6,0.000,0.080,2258,2453,2540
$GC,2754,0.74,146.0,885.2,18.5,94,2759,0.15,2.15,0.00,0.000,4,0.296,0.037,2285,1046,2538
$GC,2764,0.74,146.0,882.9,18.7,94,2769,0.00,2.47,0.00,0.000,6,0.000,0.100,2277,2445,2538
$GC,3043,0.74,146.0,832.6,18.1,101,3047,0.00,2.10,0.00,0.000,4,0.000,0.035,2275,1043,2535
$GC,3142,0.74,146.0,814.8,18.9,103,3147,0.00,2.47,0.00,0.000,6,0.000,0.100,2263,2451,2534
$GC,3420,0.74,146.0,767.8,16.8,110,3424,0.00,2.10,0.00,0.000,4,0.000,0.035,2262,1036,2531
$GC,3474,0.74,146.0,758.8,16.7,111,3480,0.12,2.38,0.00,0.000,6,0.280,0.082,2272,2447,2531
$GC,3752,0.74,146.0,716.5,14.8,118,3756,0.00,2.10,0.00,0.000,4,0.000,0.035,2274,1030,2529
$GC,3806,0.74,146.0,708.0,14.9,119,3811,0.00,2.50,0.00,0.000,6,0.000,0.103,2265,2450,2528
$GC,4086,0.74,146.0,665.5,15.2,126,4089,0.00,2.10,0.00,0.000,4,0.000,0.037,2264,1049,2528
$GC,4112,0.74,146.0,661.2,14.6,126,4117,0.10,2.45,0.00,0.000,6,0.260,0.098,2275,2451,2528
$GC,4373,0.74,146.0,620.2,15.7,133,4377,0.00,2.10,0.00,0.000,4,0.000,0.035,2283,1042,2526
$GC,4484,0.74,146.0,602.3,15.6,135,4489,0.00,2.42,0.00,0.000,6,0.000,0.094,2273,2445,2526
$GC,4752,0.74,146.0,561.9,14.9,142,4756,0.00,2.10,0.00,0.000,4,0.000,0.036,2281,1041,2525
$GC,4773,0.74,146.0,558.3,15.2,142,4778,0.00,2.40,0.00,0.000,6,0.000,0.089,2271,2446,2525
$GC,5040,0.74,146.0,519.6,14.2,149,5043,0.00,2.10,0.00,0.000,4,0.000,0.035,2275,1034,2525
$GC,5152,0.74,146.0,504.0,13.1,151,5156,0.00,2.42,0.00,0.000,6,0.000,0.094,2265,2455,2524
$GC,5411,0.74,146.0,469.2,13.4,158,5415,0.00,2.38,0.00,0.000,4,0.000,0.088,2253,3878,2523
$GC,5605,0.74,146.0,440.1,14.1,162,5610,0.00,2.17,0.00,0.000,6,0.000,0.035,2260,2454,2523
$GC,5872,0.74,146.0,402.2,13.8,169,5876,0.00,2.12,0.00,0.000,4,0.000,0.037,2261,1026,2523
$GC,5932,0.74,146.0,394.3,12.0,170,5938,0.12,2.47,0.00,0.000,6,0.289,0.094,2277,2454,2523
$GC,6205,0.74,146.0,363.4,11.2,177,6208,0.00,2.12,0.00,0.000,4,0.000,0.035,2288,1026,2523
$GC,6214,0.74,146.0,362.4,11.1,177,6219,0.00,2.45,0.00,0.000,6,0.000,0.091,2279,2442,2523
$GC,6492,0.74,146.0,333.0,10.6,184,6496,0.00,2.10,0.00,0.000,4,0.000,0.036,2279,1034,2522
$GC,6619,0.74,146.0,320.1,11.4,186,6627,0.00,2.42,0.00,0.000,6,0.000,0.091,2269,2442,2522
$GC,6869,0.74,146.0,295.6,9.6,193,6873,0.00,2.10,0.00,0.000,4,0.000,0.036,2272,1031,2522
$GC,7065,0.74,146.0,279.9,8.3,197,7069,0.00,2.40,0.00,0.000,6,0.000,0.083,2262,2462,2522
$GC,7337,0.79,188.1,261.0,6.5,204,7373,0.17,2.40,29.88,0.839,4,0.308,0.090,2283,3875,2382
$GC,7624,0.79,188.1,222.1,14.6,209,7629,0.00,2.20,0.00,0.000,6,0.000,0.035,2288,2449,2379
$GC,7879,0.79,188.1,188.9,13.4,221,7883,0.00,2.50,0.00,0.000,4,0.000,0.103,2278,3868,2378
$GC,8118,0.79,188.1,157.5,12.5,242,8122,0.00,2.12,0.00,0.000,6,0.000,0.032,2288,2439,2378
$GC,8386,0.79,188.1,129.9,9.8,267,8390,0.00,2.45,0.00,0.000,4,0.000,0.094,2278,3868,2378
$GC,8640,0.81,197.9,108.6,7.7,289,8661,0.00,2.12,9.43,0.628,6,0.000,0.031,2287,2450,2343
$GC,8915,1.04,387.7,96.9,1.0,315,9076,0.38,2.17,153.07,0.678,4,0.284,0.030,2369,1049,1565
$GC,9081,1.04,387.7,72.3,21.8,328,9090,0.00,2.70,0.00,0.000,6,0.000,0.124,2360,2432,1563
$GC,9344,1.04,387.7,17.2,23.0,358,9352,0.00,2.15,0.00,0.000,4,0.000,0.031,2356,1028,1557
$GC,9397,1.04,387.7,6.8,19.8,367,9405,0.12,2.60,0.00,0.000,6,0.296,0.114,2367,2448,1556
$STATE,9411,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FINISH,0.9,1.023854
$STATE,9424,end surface coast,CONTROL_FINISHED_OK
$STATE,9424,begin surface
$SM_CCo,9437,14.40,0.539,0,0,1436,420.19
$SM_GC,1.29,0.00,0.00,14.40,0.000,0.000,0.539,50,2498,1436,-6.25,0.23,420.19
$IRIDIUM_FIX,2223.01,-15807.15,180300,050524
$TT8_MAMPS,0.023777
$HUMID,1838
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.0,15.542
$10V_AH,10.6,8.355
$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,17.925,109.600,444.875,14.400,0.000,85.543,129.007,260.347,0.000,0.000,0.000,13.798,850.894,6533.673,491.622,1690.619,598.557,33.358,1287.129,0.000,1666.222,0.000,0.543,0.000
$DEVICE_MAMPS,308.334,124.254,1298.531,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.002,515.009,530.323,100.885,427.523,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32020,371
$CAP_FILE_SIZE,90592,0
$CFSIZE,260165632,256065536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,231210,074419,2233.083,-15808.544,12,1.9,29,10.0