version: 66.04
glider: 512
mission: 1
dive: 80
start: 12 24 110 13 3 49
data:
$ID,512
$MISSION,1
$DIVE,80
$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,-6912.6895
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,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
$GPS1,125825,2231.912,-15807.946,41,1.6,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.9
$GPS2,130256,2231.892,-15807.953,17,1.6,17,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.168,0.198
$KALMAN_X,-90972.6,2808.0,588.2,92834.6,-10817.0
$KALMAN_Y,-84233.0,-335.9,277.7,179898.3,-4544.4
$MHEAD_RNG_PITCHd_Wd,30.4,27817,-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,-55.08,0.000,2,0.000,0.000,48,2512,2956
$GC,73,-0.88,-146.0,3.3,-6.5,7,107,11.52,2.47,-15.52,0.000,4,0.276,0.112,2496,3887,3748
$GC,238,-0.88,-146.0,68.8,-33.9,26,242,0.00,2.05,0.00,0.000,6,0.000,0.034,2504,2541,3750
$GC,505,-0.88,-146.0,173.5,-34.1,51,508,0.00,2.10,0.00,0.000,4,0.000,0.032,2515,1130,3752
$GC,528,-0.88,-146.0,181.5,-35.4,53,533,0.00,2.38,0.00,0.000,6,0.000,0.082,2506,2529,3752
$GC,790,-0.88,-146.0,275.4,-35.5,63,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2529,3753
$GC,1035,-0.88,-146.0,348.3,-29.2,69,1039,0.00,2.35,0.00,0.000,4,0.000,0.097,2495,3899,3754
$GC,1156,-0.88,-146.0,378.6,-23.8,71,1163,0.00,2.05,0.00,0.000,6,0.000,0.031,2503,2540,3754
$GC,1406,-0.88,-146.0,445.7,-27.3,78,1410,0.00,2.42,0.00,0.000,4,0.000,0.108,2493,3902,3754
$GC,1471,-0.88,-146.0,460.8,-21.1,79,1476,0.00,2.05,0.00,0.000,6,0.000,0.031,2502,2540,3754
$GC,1735,-0.88,-146.0,523.6,-24.4,86,1739,0.00,2.42,0.00,0.000,4,0.000,0.109,2493,3899,3752
$GC,1773,-0.88,-146.0,533.7,-24.3,87,1777,0.00,2.03,0.00,0.000,6,0.000,0.032,2500,2536,3752
$GC,2061,-0.88,-146.0,601.9,-23.9,94,2066,0.00,2.42,0.00,0.000,4,0.000,0.110,2491,3897,3750
$GC,2154,-0.88,-146.0,624.1,-21.5,96,2159,0.00,2.03,0.00,0.000,6,0.000,0.034,2498,2555,3749
$GC,2432,-0.88,-146.0,685.9,-22.1,103,2437,0.00,2.40,0.00,0.000,4,0.000,0.110,2489,3901,3747
$GC,2481,-0.88,-146.0,697.1,-21.0,104,2486,0.00,2.05,0.00,0.000,6,0.000,0.035,2496,2546,3747
$GC,2761,-0.88,-146.0,757.2,-21.2,111,2765,0.00,2.42,0.00,0.000,4,0.000,0.111,2487,3901,3744
$GC,2815,-0.88,-146.0,769.2,-20.4,112,2820,0.00,2.05,0.00,0.000,6,0.000,0.035,2495,2552,3743
$GC,3087,-0.88,-146.0,824.8,-20.7,119,3092,0.00,2.42,0.00,0.000,4,0.000,0.115,2486,3897,3741
$GC,3119,-0.88,-146.0,832.3,-22.7,119,3126,0.00,2.05,0.00,0.000,6,0.000,0.036,2494,2546,3740
$GC,3370,-0.88,-146.0,884.1,-20.6,126,3374,0.00,2.45,0.00,0.000,4,0.000,0.115,2484,3903,3738
$GC,3425,-0.88,-146.0,895.9,-20.5,127,3429,0.00,2.05,0.00,0.000,6,0.000,0.036,2492,2558,3738
$STATE,3445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3445,begin apogee
$GC,3449,-0.32,0.0,900.0,19.5,127,3576,0.70,0.00,121.88,1.272,6,0.202,0.000,2688,2550,3150
$STATE,3577,end apogee,CONTROL_FINISHED_OK
$STATE,3577,begin climb
$GC,3579,0.88,146.0,905.9,0.0,131,3716,1.20,2.30,129.88,1.246,4,0.104,0.036,3086,1150,2555
$GC,3823,0.88,146.0,889.5,19.0,136,3829,0.00,2.42,0.00,0.000,6,0.000,0.067,3084,2550,2549
$GC,4074,0.88,146.0,838.7,20.1,143,4077,0.00,2.20,0.00,0.000,4,0.000,0.038,3092,1137,2544
$GC,4133,0.88,146.0,826.6,18.7,144,4138,0.00,2.40,0.00,0.000,6,0.000,0.070,3092,2554,2544
$GC,4407,0.88,146.0,773.0,19.7,151,4411,0.00,2.17,0.00,0.000,4,0.000,0.037,3102,1144,2541
$GC,4597,0.88,146.0,737.7,18.1,155,4602,0.00,2.33,0.00,0.000,6,0.000,0.063,3097,2545,2540
$GC,4875,0.88,146.0,687.0,18.3,162,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2545,2538
$GC,5118,0.88,146.0,644.4,17.2,168,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2545,2537
$GC,5362,0.88,146.0,608.2,14.5,174,5366,0.00,2.15,0.00,0.000,4,0.000,0.039,3106,1134,2536
$GC,5371,0.88,146.0,606.8,14.3,174,5376,0.00,2.33,0.00,0.000,6,0.000,0.064,3106,2553,2536
$GC,5651,0.88,146.0,568.5,13.9,181,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2553,2535
$GC,5893,0.88,146.0,535.1,13.9,187,5897,0.00,2.12,0.00,0.000,4,0.000,0.038,3117,1134,2535
$GC,5971,0.88,146.0,525.0,12.4,188,5975,0.00,2.33,0.00,0.000,6,0.000,0.062,3111,2551,2534
$GC,6226,0.88,146.0,490.3,13.9,195,6230,0.00,2.15,0.00,0.000,4,0.000,0.039,3119,1133,2533
$GC,6252,0.88,146.0,486.6,14.0,195,6257,0.12,2.33,0.00,0.000,6,0.249,0.064,3090,2545,2533
$GC,6513,0.88,146.0,452.0,13.0,202,6517,0.00,2.12,0.00,0.000,4,0.000,0.038,3100,1136,2532
$GC,6770,0.88,146.0,423.7,10.1,207,6775,0.00,2.33,0.00,0.000,6,0.000,0.062,3097,2551,2532
$GC,7026,0.91,171.2,399.9,8.8,214,7046,0.00,0.00,18.67,0.943,6,0.000,0.000,3097,2551,2452
$GC,7269,0.91,171.2,371.6,12.1,220,7273,0.00,2.22,0.00,0.000,4,0.000,0.073,3097,3906,2448
$GC,7425,0.91,171.2,352.6,13.0,223,7430,0.00,2.10,0.00,0.000,6,0.000,0.038,3106,2550,2447
$GC,7692,0.91,171.2,321.6,11.8,230,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2543,2447
$GC,7937,0.91,171.2,290.2,13.1,236,7941,0.00,2.22,0.00,0.000,4,0.000,0.071,3106,3903,2446
$GC,8058,0.91,171.2,275.2,10.7,238,8066,0.00,2.08,0.00,0.000,6,0.000,0.037,3116,2537,2446
$GC,8308,0.92,181.6,250.6,9.5,245,8323,0.00,2.10,9.85,0.780,4,0.000,0.036,3127,1141,2409
$GC,8577,0.92,181.6,225.4,10.5,251,8581,0.00,2.28,0.00,0.000,6,0.000,0.059,3124,2554,2408
$GC,8831,0.92,181.6,192.8,13.8,258,8834,0.00,2.12,0.00,0.000,4,0.000,0.035,3133,1139,2407
$GC,9086,0.92,181.6,162.1,11.9,281,9091,0.15,2.28,0.00,0.000,6,0.225,0.058,3102,2562,2407
$GC,9350,1.02,259.2,140.5,6.4,305,9419,0.00,2.25,64.55,0.751,4,0.000,0.033,3111,1142,2093
$GC,9457,1.02,259.2,125.6,18.3,314,9466,0.00,2.35,0.00,0.000,6,0.000,0.055,3110,2548,2089
$GC,9721,1.02,259.2,76.7,17.4,339,9724,0.00,2.12,0.00,0.000,4,0.000,0.034,3120,1142,2085
$GC,9746,1.02,259.2,72.4,17.4,341,9750,0.00,2.30,0.00,0.000,6,0.000,0.061,3120,2551,2084
$GC,10007,1.02,259.2,23.1,19.9,368,10015,0.00,2.17,0.00,0.000,4,0.000,0.032,3131,1134,2085
$GC,10097,1.02,259.2,6.0,20.2,384,10105,0.00,2.33,0.00,0.000,6,0.000,0.060,3131,2550,2085
$STATE,10116,end climb,SURFACE_DEPTH_REACHED
$STATE,10116,begin surface coast
$FINISH,-0.1,1.023537
$STATE,10133,end surface coast,CONTROL_FINISHED_OK
$STATE,10133,begin surface
$SM_CCo,10149,75.65,0.601,0,0,1436,420.19
$SM_GC,1.30,0.00,0.00,75.65,0.000,0.000,0.601,47,2556,1436,-8.60,0.17,420.19
$IRIDIUM_FIX,2223.01,-15808.02,190300,101002
$TT8_MAMPS,0.023777
$HUMID,1700
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.9,17.562
$10V_AH,10.7,9.327
$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,22.150,107.275,344.825,75.650,0.000,22.462,32.964,132.130,0.000,0.000,0.000,17.591,875.408,7249.112,495.810,1595.232,291.034,33.335,1213.025,0.000,1577.811,0.000,0.541,0.000
$DEVICE_MAMPS,276.120,115.050,1271.686,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,263.787,519.455,534.956,106.857,448.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31972,390
$CAP_FILE_SIZE,85109,0
$CFSIZE,260165632,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,241210,155522,2232.299,-15806.925,14,2.2,33,10.0