version: 66.04
glider: 512
mission: 1
dive: 78
start: 12 24 110 7 2 1
data:
$ID,512
$MISSION,1
$DIVE,78
$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,600
$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,-6865.5444
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2800
$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,32
$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,3247
$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
$GPS1,065637,2230.389,-15809.039,30,1.3,30,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-79.7
$GPS2,070108,2230.361,-15809.071,14,1.3,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.160,0.205
$KALMAN_X,-83931.6,-979.0,222.8,88033.8,-7673.9
$KALMAN_Y,-79982.1,-6.2,-51.3,172808.8,-2792.1
$MHEAD_RNG_PITCHd_Wd,27.9,31226,-17.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,79,0.00,0.00,-62.88,0.000,2,0.000,0.000,49,2508,3212
$GC,81,-0.88,-146.0,3.8,-5.7,8,113,11.25,2.15,-11.25,0.000,4,0.272,0.043,2514,1069,3845
$GC,179,-0.88,-146.0,46.7,-32.7,20,184,0.00,2.47,0.00,0.000,6,0.000,0.100,2505,2476,3846
$GC,440,-0.88,-146.0,153.4,-36.2,44,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2477,3847
$GC,699,-0.88,-146.0,246.8,-36.2,60,703,0.00,2.40,0.00,0.000,4,0.000,0.092,2494,3901,3848
$GC,739,-0.88,-146.0,260.7,-33.4,61,743,0.00,2.10,0.00,0.000,6,0.000,0.030,2502,2479,3849
$GC,1027,-0.88,-146.0,342.8,-28.1,68,1031,0.00,2.55,0.00,0.000,4,0.000,0.112,2492,3906,3849
$GC,1092,-0.88,-146.0,360.0,-24.5,69,1097,0.00,2.12,0.00,0.000,6,0.000,0.031,2500,2482,3849
$GC,1354,-0.88,-146.0,427.8,-26.5,76,1358,0.00,2.55,0.00,0.000,4,0.000,0.115,2489,3901,3848
$GC,1509,-0.88,-146.0,464.5,-20.6,79,1514,0.00,2.10,0.00,0.000,6,0.000,0.032,2496,2497,3848
$GC,1771,-0.88,-146.0,526.0,-23.8,86,1776,0.00,2.53,0.00,0.000,4,0.000,0.116,2485,3897,3847
$GC,1799,-0.88,-146.0,532.7,-24.2,86,1803,0.00,2.10,0.00,0.000,6,0.000,0.034,2493,2485,3846
$GC,2053,-0.88,-146.0,589.5,-22.2,93,2058,0.00,2.58,0.00,0.000,4,0.000,0.120,2484,3900,3844
$GC,2183,-0.88,-146.0,616.2,-19.8,96,2187,0.00,2.10,0.00,0.000,6,0.000,0.035,2492,2495,3842
$GC,2470,-0.88,-146.0,677.9,-21.3,103,2475,0.00,2.53,0.00,0.000,4,0.000,0.114,2482,3903,3839
$GC,2554,-0.88,-146.0,694.7,-17.9,105,2558,0.00,2.12,0.00,0.000,6,0.000,0.035,2490,2477,3838
$GC,2844,-0.88,-146.0,750.6,-19.3,112,2848,0.00,2.58,0.00,0.000,4,0.000,0.116,2480,3906,3835
$GC,2948,-0.88,-146.0,770.1,-16.8,114,2953,0.00,2.15,0.00,0.000,6,0.000,0.036,2488,2491,3834
$GC,3216,-0.88,-146.0,819.6,-18.8,121,3220,0.00,2.53,0.00,0.000,4,0.000,0.114,2478,3900,3831
$GC,3281,-0.88,-146.0,832.6,-18.4,122,3286,0.10,2.15,0.00,0.000,6,0.193,0.036,2508,2478,3831
$GC,3541,-0.88,-146.0,877.4,-17.3,129,3545,0.00,2.55,0.00,0.000,4,0.000,0.114,2498,3902,3828
$GC,3601,-0.88,-146.0,888.3,-16.6,130,3607,0.00,2.12,0.00,0.000,6,0.000,0.037,2506,2504,3828
$STATE,3704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3704,begin apogee
$GC,3708,-0.32,0.0,906.0,17.4,133,3830,0.65,0.00,119.45,1.286,6,0.187,0.000,2689,2497,3247
$STATE,3831,end apogee,CONTROL_FINISHED_OK
$STATE,3831,begin climb
$GC,3833,0.88,146.0,911.6,0.0,136,3968,1.17,2.38,127.88,1.225,4,0.084,0.037,3091,1037,2650
$GC,3995,0.89,155.3,919.1,9.6,140,4010,0.00,2.50,9.20,1.052,6,0.000,0.075,3091,2453,2614
$GC,4272,0.89,155.3,870.5,17.9,147,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2453,2606
$GC,4514,0.89,155.3,829.1,17.1,153,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2453,2603
$GC,4760,0.89,155.3,788.4,16.6,159,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2453,2602
$GC,5002,0.89,155.3,748.7,16.3,165,5006,0.00,2.15,0.00,0.000,4,0.000,0.038,3101,1032,2600
$GC,5013,0.89,155.3,747.0,16.1,165,5017,0.00,2.33,0.00,0.000,6,0.000,0.069,3097,2453,2600
$GC,5283,0.89,155.3,704.2,16.0,172,5287,0.00,2.35,0.00,0.000,4,0.000,0.083,3097,3861,2598
$GC,5293,0.89,155.3,702.5,15.4,172,5298,0.00,2.17,0.00,0.000,6,0.000,0.039,3106,2457,2598
$GC,5571,0.89,155.3,658.6,15.9,179,5575,0.00,2.38,0.00,0.000,4,0.000,0.081,3107,3874,2597
$GC,5827,0.89,155.3,616.7,15.6,184,5835,0.10,2.20,0.00,0.000,6,0.267,0.039,3095,2440,2597
$GC,6078,0.89,155.3,583.7,13.0,191,6082,0.00,2.38,0.00,0.000,4,0.000,0.080,3094,3868,2594
$GC,6335,0.89,155.3,549.3,12.7,196,6342,0.00,2.17,0.00,0.000,6,0.000,0.039,3103,2451,2595
$GC,6586,0.89,155.3,519.8,11.7,203,6590,0.00,2.33,0.00,0.000,4,0.000,0.078,3104,3864,2593
$GC,6843,0.89,155.3,489.1,11.2,208,6850,0.00,2.15,0.00,0.000,6,0.000,0.038,3115,2454,2593
$GC,7093,0.91,172.1,465.7,9.2,215,7111,0.00,2.38,11.75,0.952,4,0.000,0.078,3110,3872,2545
$GC,7180,0.91,172.1,454.8,14.7,217,7184,0.00,2.15,0.00,0.000,6,0.000,0.039,3119,2457,2545
$GC,7468,0.91,172.1,416.9,13.2,224,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2451,2542
$GC,7712,0.91,172.1,389.7,10.8,230,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2451,2541
$GC,7958,0.93,189.4,366.8,9.2,236,7979,0.00,2.38,15.95,0.916,4,0.000,0.081,3120,3861,2473
$GC,8230,0.93,189.4,327.1,14.2,242,8235,0.00,2.20,0.00,0.000,6,0.000,0.038,3130,2444,2470
$GC,8508,0.93,189.4,292.7,12.4,249,8513,0.12,2.35,0.00,0.000,4,0.264,0.076,3109,3865,2469
$GC,8764,0.93,189.4,262.5,10.6,254,8772,0.00,2.17,0.00,0.000,6,0.000,0.038,3118,2441,2469
$GC,9016,1.01,253.9,244.5,7.0,261,9076,0.00,2.45,53.60,0.838,4,0.000,0.076,3118,3856,2211
$GC,9328,1.01,253.9,180.6,23.2,271,9336,0.00,2.17,0.00,0.000,6,0.000,0.037,3128,2468,2205
$GC,9589,1.01,253.9,127.0,19.9,296,9594,0.00,2.33,0.00,0.000,4,0.000,0.068,3123,3874,2202
$GC,9797,1.01,253.9,90.9,12.7,314,9807,0.00,2.20,0.00,0.000,6,0.000,0.035,3133,2440,2202
$GC,10061,1.01,253.9,61.7,12.6,339,10064,0.00,2.10,0.00,0.000,4,0.000,0.033,3144,1031,2201
$GC,10160,1.01,253.9,48.2,13.6,348,10164,0.00,2.28,0.00,0.000,6,0.000,0.060,3137,2456,2201
$GC,10421,1.01,253.9,9.1,15.6,384,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2457,2202
$STATE,10460,end climb,SURFACE_DEPTH_REACHED
$STATE,10461,begin surface coast
$FINISH,0.1,1.023570
$STATE,10478,end surface coast,CONTROL_FINISHED_OK
$STATE,10478,begin surface
$SM_CCo,10494,81.55,0.596,0,0,1533,420.19
$SM_GC,1.45,0.00,0.00,81.55,0.000,0.000,0.596,48,2489,1533,-8.60,0.00,420.19
$IRIDIUM_FIX,2220.67,-15813.21,190300,050552
$TT8_MAMPS,0.023777
$HUMID,1739
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,24.1,17.287
$10V_AH,10.7,9.171
$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,21.975,101.125,337.825,81.550,0.000,27.777,37.232,128.278,0.750,0.000,0.000,14.780,915.970,7402.778,506.563,1742.061,293.721,33.342,1268.619,0.000,1719.934,0.000,0.545,0.000
$DEVICE_MAMPS,271.518,158.002,1286.259,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.581,508.174,524.969,113.717,472.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32088,394
$CAP_FILE_SIZE,88329,0
$CFSIZE,260165632,255741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,241210,095902,2231.156,-15808.642,11,1.6,11,10.0