version: 66.04
glider: 512
mission: 1
dive: 82
start: 12 24 110 18 59 28
data:
$ID,512
$MISSION,1
$DIVE,82
$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,-6994.7163
$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,51
$R_STBD_OVSHOOT,15
$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
$GPS1,185410,2232.807,-15806.193,12,2.8,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-81.1
$GPS2,185836,2232.794,-15806.198,35,1.0,35,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.144,0.216
$KALMAN_X,-91077.4,2109.8,748.8,96488.4,-9448.5
$KALMAN_Y,-90158.4,667.9,190.5,186567.5,-7645.1
$MHEAD_RNG_PITCHd_Wd,23.7,24962,-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,-55.33,0.000,2,0.000,0.000,52,2553,2839
$GC,73,-0.88,-146.0,3.1,-6.5,7,113,11.50,2.40,-18.70,0.000,4,0.276,0.114,2493,3899,3747
$GC,349,-0.88,-146.0,103.6,-32.7,37,353,0.00,2.03,0.00,0.000,6,0.000,0.034,2501,2566,3750
$GC,616,-0.88,-146.0,200.4,-36.4,62,620,0.00,2.33,0.00,0.000,4,0.000,0.099,2492,3896,3752
$GC,637,-0.88,-146.0,208.1,-34.0,62,642,0.00,2.05,0.00,0.000,6,0.000,0.030,2500,2535,3752
$GC,897,-0.88,-146.0,291.5,-31.2,69,902,0.00,2.40,0.00,0.000,4,0.000,0.105,2491,3895,3753
$GC,946,-0.88,-146.0,306.5,-29.1,70,951,0.00,2.03,0.00,0.000,6,0.000,0.029,2497,2546,3753
$GC,1224,-0.88,-146.0,390.5,-30.0,77,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2539,3753
$GC,1468,-0.88,-146.0,454.8,-25.4,83,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2539,3753
$GC,1713,-0.88,-146.0,514.5,-24.4,89,1717,0.00,2.40,0.00,0.000,4,0.000,0.108,2488,3898,3752
$GC,1778,-0.88,-146.0,529.8,-20.8,90,1783,0.00,2.03,0.00,0.000,6,0.000,0.033,2495,2554,3752
$GC,2039,-0.88,-146.0,590.5,-23.3,97,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2546,3749
$GC,2283,-0.88,-146.0,648.8,-24.2,103,2287,0.00,2.40,0.00,0.000,4,0.000,0.114,2486,3896,3748
$GC,2326,-0.88,-146.0,659.5,-22.9,104,2331,0.00,2.03,0.00,0.000,6,0.000,0.034,2494,2553,3747
$GC,2611,-0.88,-146.0,726.8,-23.9,111,2615,0.00,2.40,0.00,0.000,4,0.000,0.114,2484,3896,3744
$GC,2682,-0.88,-146.0,743.5,-22.5,112,2686,0.00,2.03,0.00,0.000,6,0.000,0.035,2492,2561,3743
$GC,2937,-0.88,-146.0,798.1,-21.0,119,2941,0.00,2.40,0.00,0.000,4,0.000,0.112,2483,3900,3741
$GC,3003,-0.88,-146.0,812.1,-20.1,120,3008,0.00,2.05,0.00,0.000,6,0.000,0.035,2491,2556,3740
$GC,3264,-0.88,-146.0,865.3,-20.1,127,3268,0.00,2.42,0.00,0.000,4,0.000,0.114,2481,3901,3738
$GC,3368,-0.88,-146.0,885.8,-18.5,129,3373,0.00,2.08,0.00,0.000,6,0.000,0.036,2489,2543,3737
$STATE,3471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3471,begin apogee
$GC,3475,-0.32,0.0,906.1,19.9,132,3600,0.75,0.00,121.50,1.271,6,0.206,0.000,2690,2536,3151
$STATE,3600,end apogee,CONTROL_FINISHED_OK
$STATE,3600,begin climb
$GC,3602,0.88,146.0,911.2,0.0,135,3740,1.17,2.28,130.77,1.252,4,0.100,0.038,3084,1143,2553
$GC,3812,0.88,146.0,900.9,19.2,140,3817,0.00,2.47,0.00,0.000,6,0.000,0.071,3083,2548,2548
$GC,4096,0.88,146.0,839.3,21.9,147,4100,0.00,2.17,0.00,0.000,4,0.000,0.038,3092,1140,2541
$GC,4111,0.88,146.0,835.8,21.4,147,4116,0.00,2.38,0.00,0.000,6,0.000,0.071,3092,2547,2541
$GC,4384,0.88,146.0,779.9,20.4,154,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2547,2539
$GC,4627,0.88,146.0,731.9,19.6,160,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2546,2538
$GC,4872,0.88,146.0,687.0,18.0,166,4876,0.00,2.15,0.00,0.000,4,0.000,0.038,3102,1141,2536
$GC,4977,0.88,146.0,669.1,15.8,168,4982,0.00,2.35,0.00,0.000,6,0.000,0.067,3097,2549,2536
$GC,5249,0.88,146.0,622.8,16.7,175,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2549,2534
$GC,5494,0.88,146.0,583.1,16.4,181,5498,0.00,2.15,0.00,0.000,4,0.000,0.039,3106,1138,2533
$GC,5509,0.88,146.0,580.5,16.1,181,5514,0.00,2.35,0.00,0.000,6,0.000,0.067,3106,2549,2533
$GC,5783,0.88,146.0,538.1,15.1,188,5787,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1139,2532
$GC,6039,0.88,146.0,502.3,13.3,193,6044,0.00,2.35,0.00,0.000,6,0.000,0.066,3112,2556,2532
$GC,6295,0.88,146.0,467.9,13.6,200,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2556,2531
$GC,6540,0.88,146.0,435.7,13.0,206,6544,0.00,2.20,0.00,0.000,4,0.000,0.075,3111,3901,2530
$GC,6797,0.88,146.0,398.3,14.8,211,6802,0.12,2.08,0.00,0.000,6,0.264,0.039,3092,2544,2530
$GC,7052,0.88,146.0,367.9,11.6,218,7055,0.00,2.10,0.00,0.000,4,0.000,0.037,3100,1146,2529
$GC,7145,0.88,146.0,357.7,10.5,220,7150,0.00,2.30,0.00,0.000,6,0.000,0.061,3097,2552,2529
$GC,7429,0.93,185.9,332.4,8.2,227,7461,0.00,0.00,30.30,0.918,6,0.000,0.000,3097,2552,2392
$GC,7673,0.93,185.9,300.9,13.9,233,7676,0.00,2.17,0.00,0.000,4,0.000,0.038,3106,1137,2387
$GC,7783,0.93,185.9,283.6,15.8,235,7788,0.00,2.35,0.00,0.000,6,0.000,0.066,3106,2546,2386
$GC,8050,0.93,185.9,241.3,15.8,242,8054,0.00,2.20,0.00,0.000,4,0.000,0.071,3106,3895,2385
$GC,8060,0.93,185.9,239.7,15.5,242,8064,0.00,2.05,0.00,0.000,6,0.000,0.038,3116,2559,2384
$GC,8338,0.93,185.9,201.5,12.6,249,8341,0.00,2.20,0.00,0.000,4,0.000,0.070,3111,3896,2384
$GC,8584,0.93,185.9,170.1,12.5,268,8587,0.00,2.03,0.00,0.000,6,0.000,0.037,3119,2548,2384
$GC,8852,0.93,185.9,142.5,10.8,293,8855,0.00,2.10,0.00,0.000,4,0.000,0.034,3130,1127,2384
$GC,8952,0.97,223.1,132.9,8.3,302,8991,0.00,2.28,31.10,0.753,6,0.000,0.057,3124,2552,2239
$GC,9245,0.97,223.1,91.5,15.7,329,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2552,2234
$GC,9498,0.99,233.9,64.4,9.5,353,9513,0.00,2.17,9.60,0.617,4,0.000,0.033,3133,1134,2196
$GC,9558,0.99,233.9,58.0,11.7,358,9562,0.00,2.28,0.00,0.000,6,0.000,0.058,3133,2549,2195
$GC,9820,0.99,233.9,20.4,15.8,387,9828,0.00,2.15,0.00,0.000,4,0.000,0.032,3143,1131,2195
$GC,9898,0.99,233.9,7.5,15.9,401,9907,0.00,2.28,0.00,0.000,6,0.000,0.053,3137,2547,2195
$STATE,9929,end climb,SURFACE_DEPTH_REACHED
$STATE,9929,begin surface coast
$FINISH,0.2,1.023434
$STATE,9946,end surface coast,CONTROL_FINISHED_OK
$STATE,9946,begin surface
$SM_CCo,9961,92.82,0.616,0,0,1435,420.19
$SM_GC,1.19,0.00,0.00,92.82,0.000,0.000,0.616,51,2547,1435,-8.59,-0.11,420.19
$IRIDIUM_FIX,2223.01,-15804.98,190300,161637
$TT8_MAMPS,0.023777
$HUMID,1678
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.9,17.836
$10V_AH,10.7,9.487
$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,22.150,93.175,323.275,92.825,0.000,22.544,36.586,108.074,0.000,0.000,0.000,35.172,881.874,7074.946,487.245,1616.826,270.939,33.354,1169.301,0.000,1585.286,0.000,0.543,0.000
$DEVICE_MAMPS,276.120,114.283,1270.919,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,277.659,580.095,596.815,127.257,528.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32083,409
$CAP_FILE_SIZE,80348,0
$CFSIZE,260165632,255557632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,241210,214806,2233.589,-15805.551,13,1.0,29,10.0