version: 66.04
glider: 512
mission: 1
dive: 81
start: 12 24 110 16 5 22
data:
$ID,512
$MISSION,1
$DIVE,81
$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,-6958.9141
$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,50
$R_STBD_OVSHOOT,19
$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
$GPS1,155522,2232.299,-15806.925,14,2.2,33,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-79.7
$GPS2,160430,2232.258,-15806.925,40,1.3,45,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.157,0.207
$KALMAN_X,-91394.4,2741.5,851.5,94822.1,-10553.6
$KALMAN_Y,-87248.8,85.2,168.0,183277.3,-6164.8
$MHEAD_RNG_PITCHd_Wd,27.1,26397,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,79,0.00,0.00,-62.03,0.000,2,0.000,0.000,47,2556,3066
$GC,81,-0.88,-146.0,3.4,-6.1,8,113,11.40,2.35,-13.02,0.000,4,0.272,0.104,2498,3893,3748
$GC,245,-0.88,-146.0,69.2,-33.0,27,249,0.00,2.03,0.00,0.000,6,0.000,0.033,2506,2559,3749
$GC,512,-0.88,-146.0,176.6,-35.7,52,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2553,3750
$GC,788,-0.88,-146.0,268.7,-32.0,64,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2552,3752
$GC,1031,-0.88,-146.0,340.9,-28.7,70,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2552,3753
$GC,1278,-0.88,-146.0,408.1,-27.1,76,1282,0.00,2.35,0.00,0.000,4,0.000,0.106,2497,3892,3752
$GC,1377,-0.88,-146.0,432.8,-22.5,78,1381,0.00,2.03,0.00,0.000,6,0.000,0.032,2504,2543,3752
$GC,1649,-0.88,-146.0,495.1,-22.7,85,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2537,3751
$GC,1895,-0.88,-146.0,549.1,-22.1,91,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2536,3749
$GC,2136,-0.88,-146.0,601.6,-21.5,97,2140,0.00,2.40,0.00,0.000,4,0.000,0.110,2496,3891,3747
$GC,2196,-0.88,-146.0,615.0,-20.3,98,2201,0.00,2.03,0.00,0.000,6,0.000,0.033,2504,2545,3746
$GC,2463,-0.88,-146.0,670.4,-20.8,105,2467,0.00,2.40,0.00,0.000,4,0.000,0.114,2495,3891,3743
$GC,2509,-0.88,-146.0,680.1,-20.7,106,2513,0.00,2.00,0.00,0.000,6,0.000,0.035,2503,2543,3743
$GC,2797,-0.88,-146.0,738.4,-20.1,113,2801,0.00,2.40,0.00,0.000,4,0.000,0.112,2494,3891,3740
$GC,2828,-0.88,-146.0,745.2,-21.0,113,2835,0.00,2.03,0.00,0.000,6,0.000,0.035,2502,2553,3739
$GC,3078,-0.88,-146.0,792.2,-18.7,120,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2546,3737
$GC,3325,-0.88,-146.0,839.8,-19.6,126,3329,0.00,2.40,0.00,0.000,4,0.000,0.114,2492,3894,3735
$GC,3420,-0.88,-146.0,858.9,-18.4,128,3423,0.00,2.03,0.00,0.000,6,0.000,0.035,2500,2542,3733
$STATE,3656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3656,begin apogee
$GC,3660,-0.32,0.0,904.0,19.1,134,3784,0.70,0.00,120.78,1.276,6,0.196,0.000,2693,2534,3150
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3786,0.88,146.0,910.5,0.0,137,3924,1.15,2.28,130.00,1.235,4,0.094,0.037,3084,1136,2553
$GC,4142,0.88,146.0,875.0,18.4,145,4147,0.00,2.42,0.00,0.000,6,0.000,0.070,3083,2549,2545
$GC,4415,0.88,146.0,820.5,20.4,152,4418,0.00,2.17,0.00,0.000,4,0.000,0.039,3092,1128,2540
$GC,4446,0.88,146.0,814.2,19.8,152,4451,0.00,2.38,0.00,0.000,6,0.000,0.067,3092,2550,2540
$GC,4702,0.88,146.0,763.9,20.1,159,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2550,2538
$GC,4946,0.88,146.0,717.9,18.8,165,4950,0.00,2.12,0.00,0.000,4,0.000,0.038,3103,1134,2537
$GC,4961,0.88,146.0,715.1,18.5,165,4965,0.00,2.35,0.00,0.000,6,0.000,0.064,3097,2550,2537
$GC,5233,0.88,146.0,666.9,17.8,172,5237,0.00,2.17,0.00,0.000,4,0.000,0.039,3106,1130,2535
$GC,5389,0.88,146.0,640.4,17.1,175,5393,0.00,2.35,0.00,0.000,6,0.000,0.064,3107,2554,2534
$GC,5656,0.88,146.0,594.6,17.1,182,5659,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1131,2533
$GC,5777,0.88,146.0,575.4,15.6,184,5783,0.10,2.35,0.00,0.000,6,0.245,0.064,3094,2558,2533
$GC,6034,0.88,146.0,537.4,14.7,191,6038,0.00,2.15,0.00,0.000,4,0.000,0.037,3103,1137,2532
$GC,6195,0.88,146.0,514.6,12.5,194,6200,0.00,2.33,0.00,0.000,6,0.000,0.063,3097,2552,2532
$GC,6457,0.88,146.0,478.9,13.8,201,6461,0.00,2.15,0.00,0.000,4,0.000,0.039,3106,1136,2531
$GC,6472,0.88,146.0,476.7,13.5,201,6477,0.00,2.33,0.00,0.000,6,0.000,0.064,3106,2548,2531
$GC,6745,0.88,146.0,441.0,12.7,208,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2548,2530
$GC,6988,0.88,146.0,412.7,11.4,214,6992,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1128,2530
$GC,7245,0.88,146.0,384.4,11.0,219,7251,0.12,2.33,0.00,0.000,6,0.246,0.060,3088,2556,2529
$GC,7502,0.88,146.0,356.9,10.8,226,7505,0.00,2.17,0.00,0.000,4,0.000,0.071,3084,3898,2528
$GC,7556,0.92,176.4,351.8,8.6,227,7584,0.00,2.08,22.33,0.894,6,0.000,0.038,3092,2534,2430
$GC,7826,0.92,176.4,318.1,13.3,233,7830,0.00,2.10,0.00,0.000,4,0.000,0.037,3103,1148,2425
$GC,7841,0.92,176.4,316.1,12.5,233,7846,0.00,2.30,0.00,0.000,6,0.000,0.059,3097,2551,2425
$GC,8114,0.92,176.4,281.0,12.5,240,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2552,2424
$GC,8359,0.92,176.4,253.7,10.9,246,8362,0.00,2.12,0.00,0.000,4,0.000,0.036,3105,1150,2424
$GC,8525,0.92,176.4,235.0,10.3,249,8530,0.00,2.28,0.00,0.000,6,0.000,0.059,3106,2547,2424
$GC,8782,0.92,176.4,208.3,10.8,256,8785,0.00,2.12,0.00,0.000,4,0.000,0.035,3117,1141,2424
$GC,9038,1.02,262.0,185.2,6.0,273,9114,0.00,2.25,70.38,0.762,6,0.000,0.059,3117,2550,2081
$GC,9376,1.02,262.0,114.9,18.8,304,9379,0.00,2.15,0.00,0.000,4,0.000,0.035,3128,1149,2073
$GC,9578,1.02,262.0,78.2,17.1,322,9582,0.00,2.28,0.00,0.000,6,0.000,0.058,3129,2552,2070
$GC,9840,1.02,262.0,27.2,20.0,347,9848,0.00,2.12,0.00,0.000,4,0.000,0.034,3139,1153,2071
$GC,9877,1.02,262.0,19.7,19.9,353,9885,0.00,2.28,0.00,0.000,6,0.000,0.058,3137,2548,2071
$STATE,9959,end climb,SURFACE_DEPTH_REACHED
$STATE,9959,begin surface coast
$FINISH,0.2,1.023543
$STATE,9972,end surface coast,CONTROL_FINISHED_OK
$STATE,9972,begin surface
$SM_CCo,9987,75.43,0.601,0,0,1437,420.19
$SM_GC,1.53,0.00,0.00,75.43,0.000,0.000,0.601,52,2548,1437,-8.59,-0.08,420.19
$IRIDIUM_FIX,2225.34,-15804.98,190300,161618
$TT8_MAMPS,0.023777
$HUMID,1715
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,24.0,17.704
$10V_AH,10.7,9.404
$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,22.000,88.850,343.475,75.425,0.000,52.797,95.216,219.739,0.000,0.000,0.000,45.595,826.088,7332.685,464.729,1520.138,476.944,33.343,1146.765,0.000,1476.554,0.000,0.543,0.000
$DEVICE_MAMPS,272.285,113.516,1275.521,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.759,474.482,489.123,98.917,410.129,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28852,370
$CAP_FILE_SIZE,81368,0
$CFSIZE,260165632,255602688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,241210,185410,2232.807,-15806.193,12,2.8,31,10.0