version: 66.04
glider: 512
mission: 1
dive: 79
start: 12 24 110 10 5 28
data:
$ID,512
$MISSION,1
$DIVE,79
$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,-6894.4673
$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,39
$R_STBD_OVSHOOT,16
$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
$GPS1,095902,2231.156,-15808.642,11,1.6,11,10.0
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.4
$GPS2,100436,2231.136,-15808.672,28,1.6,28,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.170,0.196
$KALMAN_X,-88633.5,1639.3,523.6,90500.6,-10040.2
$KALMAN_Y,-81894.5,-290.5,-64.0,176456.5,-3193.1
$MHEAD_RNG_PITCHd_Wd,30.9,29642,-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,-146.0,0.0,0.0,0,71,0.00,0.00,-54.90,0.000,2,0.000,0.000,47,2492,2952
$GC,73,-0.88,-146.0,3.1,-6.2,7,114,11.35,2.50,-17.70,0.000,4,0.272,0.110,2493,3896,3845
$GC,231,-0.88,-146.0,65.2,-33.0,25,240,0.00,2.17,0.00,0.000,6,0.000,0.034,2501,2493,3846
$GC,494,-0.88,-146.0,171.0,-38.5,50,498,0.00,2.12,0.00,0.000,4,0.000,0.032,2512,1065,3848
$GC,509,-0.88,-146.0,178.9,-40.9,51,518,0.00,2.38,0.00,0.000,6,0.000,0.074,2503,2480,3849
$GC,771,-0.88,-146.0,274.5,-35.7,62,775,0.00,2.42,0.00,0.000,4,0.000,0.092,2491,3906,3849
$GC,792,-0.88,-146.0,281.6,-32.5,62,797,0.00,2.15,0.00,0.000,6,0.000,0.031,2500,2482,3850
$GC,1053,-0.88,-146.0,354.7,-27.0,69,1057,0.00,2.50,0.00,0.000,4,0.000,0.104,2490,3899,3850
$GC,1138,-0.88,-146.0,375.6,-22.6,71,1142,0.00,2.10,0.00,0.000,6,0.000,0.031,2497,2483,3850
$GC,1426,-0.88,-146.0,451.1,-25.5,78,1430,0.00,2.53,0.00,0.000,4,0.000,0.109,2487,3899,3849
$GC,1458,-0.88,-146.0,459.5,-25.3,78,1465,0.00,2.12,0.00,0.000,6,0.000,0.032,2495,2488,3849
$GC,1708,-0.88,-146.0,521.7,-24.8,85,1712,0.00,2.53,0.00,0.000,4,0.000,0.111,2485,3910,3849
$GC,1729,-0.88,-146.0,527.2,-25.3,85,1734,0.00,2.15,0.00,0.000,6,0.000,0.034,2493,2488,3848
$GC,1997,-0.88,-146.0,590.6,-24.2,92,2002,0.00,2.55,0.00,0.000,4,0.000,0.114,2483,3902,3846
$GC,2147,-0.88,-146.0,624.7,-21.0,95,2152,0.00,2.12,0.00,0.000,6,0.000,0.035,2491,2494,3845
$GC,2414,-0.88,-146.0,684.0,-22.5,102,2418,0.00,2.53,0.00,0.000,4,0.000,0.116,2481,3900,3843
$GC,2501,-0.88,-146.0,703.5,-20.3,104,2507,0.00,2.12,0.00,0.000,6,0.000,0.035,2488,2496,3841
$GC,2786,-0.88,-146.0,764.9,-21.6,111,2790,0.00,2.53,0.00,0.000,4,0.000,0.114,2479,3901,3839
$GC,2840,-0.88,-146.0,776.6,-19.9,112,2845,0.10,2.15,0.00,0.000,6,0.196,0.035,2507,2477,3838
$GC,3112,-0.88,-146.0,826.8,-18.4,119,3116,0.00,2.55,0.00,0.000,4,0.000,0.113,2498,3907,3836
$GC,3172,-0.88,-146.0,838.2,-16.8,120,3178,0.00,2.15,0.00,0.000,6,0.000,0.036,2507,2498,3835
$GC,3439,-0.88,-146.0,887.2,-18.5,127,3443,0.00,2.50,0.00,0.000,4,0.000,0.110,2497,3901,3833
$GC,3505,-0.88,-146.0,899.6,-17.4,128,3509,0.00,2.15,0.00,0.000,6,0.000,0.037,2505,2493,3832
$STATE,3514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3514,begin apogee
$GC,3518,-0.32,0.0,901.3,16.4,128,3644,0.62,0.00,120.45,1.255,6,0.181,0.000,2688,2485,3248
$STATE,3645,end apogee,CONTROL_FINISHED_OK
$STATE,3645,begin climb
$GC,3646,0.88,146.0,907.5,0.0,132,3784,1.20,2.38,128.60,1.216,4,0.090,0.037,3092,1046,2650
$GC,3811,0.89,157.4,915.3,9.5,136,3828,0.00,2.45,11.00,1.055,6,0.000,0.071,3092,2458,2605
$GC,4088,0.89,157.4,863.8,19.3,143,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2458,2597
$GC,4333,0.89,157.4,817.8,18.9,149,4337,0.00,2.38,0.00,0.000,4,0.000,0.080,3092,3874,2595
$GC,4381,0.89,157.4,807.8,19.6,150,4386,0.00,2.22,0.00,0.000,6,0.000,0.038,3103,2455,2595
$GC,4659,0.89,157.4,755.9,18.2,157,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2454,2593
$GC,4903,0.89,157.4,713.9,17.2,163,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2454,2591
$GC,5147,0.89,157.4,675.9,15.4,169,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2454,2590
$GC,5390,0.89,157.4,639.8,14.7,175,5394,0.00,2.35,0.00,0.000,4,0.000,0.075,3097,3871,2589
$GC,5546,0.89,157.4,616.0,15.3,178,5551,0.00,2.20,0.00,0.000,6,0.000,0.039,3106,2443,2588
$GC,5807,0.89,157.4,583.5,12.3,185,5811,0.00,2.38,0.00,0.000,4,0.000,0.077,3107,3874,2587
$GC,5828,0.89,157.4,580.7,12.9,185,5833,0.00,2.20,0.00,0.000,6,0.000,0.038,3118,2450,2587
$GC,6095,0.89,157.4,546.1,13.2,192,6099,0.00,2.35,0.00,0.000,4,0.000,0.074,3111,3876,2586
$GC,6351,0.89,157.4,508.4,14.8,197,6359,0.10,2.20,0.00,0.000,6,0.263,0.040,3098,2447,2586
$GC,6601,0.89,157.4,480.2,10.8,204,6605,0.00,2.35,0.00,0.000,4,0.000,0.075,3097,3870,2585
$GC,6858,0.92,176.4,454.2,9.1,209,6879,0.00,2.17,13.93,0.949,6,0.000,0.039,3106,2456,2526
$GC,7151,0.92,176.4,421.8,11.2,217,7155,0.00,2.35,0.00,0.000,4,0.000,0.076,3107,3871,2524
$GC,7408,0.92,176.4,391.8,12.7,222,7415,0.00,2.17,0.00,0.000,6,0.000,0.038,3117,2447,2522
$GC,7658,0.92,176.4,363.1,11.5,229,7662,0.00,2.35,0.00,0.000,4,0.000,0.072,3111,3878,2522
$GC,7915,0.92,176.4,332.3,11.2,234,7922,0.00,2.17,0.00,0.000,6,0.000,0.039,3120,2460,2522
$GC,8166,0.96,211.2,311.2,8.4,241,8201,0.00,2.35,29.88,0.871,4,0.000,0.068,3120,3878,2385
$GC,8351,0.96,211.2,282.5,16.9,244,8356,0.00,2.20,0.00,0.000,6,0.000,0.036,3130,2464,2381
$GC,8624,0.96,211.2,241.9,13.8,251,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2460,2378
$GC,8867,0.96,211.2,211.9,12.4,257,8871,0.00,2.15,0.00,0.000,4,0.000,0.035,3141,1030,2377
$GC,9014,0.96,211.2,195.4,11.4,261,9018,0.00,2.30,0.00,0.000,6,0.000,0.061,3137,2457,2377
$GC,9275,0.96,211.2,166.6,13.5,285,9278,0.00,2.15,0.00,0.000,4,0.000,0.035,3147,1023,2376
$GC,9466,0.96,211.2,143.0,11.1,302,9476,0.15,2.30,0.00,0.000,6,0.253,0.058,3111,2447,2376
$GC,9730,1.10,321.1,122.0,4.9,327,9826,0.12,2.25,88.85,0.696,4,0.096,0.037,3162,1040,1936
$GC,9887,1.10,321.1,94.0,22.7,342,9891,0.00,2.35,0.00,0.000,6,0.000,0.061,3162,2464,1929
$GC,10149,1.10,321.1,25.3,27.7,367,10157,0.00,2.20,0.00,0.000,4,0.000,0.033,3171,1035,1928
$GC,10175,1.10,321.1,18.1,27.4,371,10183,0.00,2.30,0.00,0.000,6,0.000,0.056,3171,2442,1927
$STATE,10231,end climb,SURFACE_DEPTH_REACHED
$STATE,10231,begin surface coast
$FINISH,0.2,1.023457
$STATE,10238,end surface coast,CONTROL_FINISHED_OK
$STATE,10238,begin surface
$SM_CCo,10254,47.38,0.599,0,0,1533,420.19
$SM_GC,1.72,0.00,0.00,47.38,0.000,0.000,0.599,49,2511,1533,-8.60,0.59,420.19
$IRIDIUM_FIX,2223.01,-15810.18,190300,070735
$TT8_MAMPS,0.024544
$HUMID,1750
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,24.0,17.428
$10V_AH,10.7,9.248
$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,22.375,110.325,392.700,47.375,0.000,30.584,33.690,177.017,0.000,0.000,0.000,28.293,869.101,7269.594,520.874,1638.867,347.397,33.352,1280.940,0.000,1610.903,0.000,0.541,0.000
$DEVICE_MAMPS,271.518,115.817,1254.812,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.777,492.467,509.784,94.649,395.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32039,382
$CAP_FILE_SIZE,88883,0
$CFSIZE,260165632,255692800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,241210,125825,2231.912,-15807.946,41,1.6,41,10.0