version: 66.04
glider: 512
mission: 1
dive: 83
start: 12 24 110 21 57 1
data:
$ID,512
$MISSION,1
$DIVE,83
$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,-7010.7227
$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,42
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3050
$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
$GPS1,214806,2233.589,-15805.551,13,1.0,29,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.9
$GPS2,215608,2233.542,-15805.603,15,1.7,15,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.223,0.133
$KALMAN_X,-90379.4,1243.5,513.5,97918.8,-7284.6
$KALMAN_Y,-92886.4,1239.0,588.3,189703.7,-9562.7
$MHEAD_RNG_PITCHd_Wd,49.3,23278,-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,15,-0.88,-146.0,0.0,0.0,0,72,0.00,0.00,-55.28,0.000,2,0.000,0.000,51,2552,2847
$GC,74,-0.88,-146.0,3.2,-6.5,7,114,11.50,2.40,-16.98,0.000,4,0.275,0.108,2496,3898,3649
$GC,175,-0.88,-146.0,41.0,-42.0,21,179,0.00,2.03,0.00,0.000,6,0.000,0.032,2504,2556,3650
$GC,441,-0.88,-146.0,153.7,-38.9,46,445,0.00,2.38,0.00,0.000,4,0.000,0.106,2496,3884,3651
$GC,457,-0.88,-146.0,160.2,-38.9,47,461,0.00,2.00,0.00,0.000,6,0.000,0.031,2504,2535,3651
$GC,736,-0.88,-146.0,257.7,-33.8,62,741,0.00,2.42,0.00,0.000,4,0.000,0.110,2495,3882,3653
$GC,785,-0.88,-146.0,273.7,-30.1,63,790,0.00,2.00,0.00,0.000,6,0.000,0.029,2503,2547,3653
$GC,1063,-0.88,-146.0,356.5,-30.6,70,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3654
$GC,1308,-0.88,-146.0,422.2,-26.7,76,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2540,3653
$GC,1551,-0.88,-146.0,484.3,-25.5,82,1555,0.00,2.42,0.00,0.000,4,0.000,0.116,2494,3892,3653
$GC,1656,-0.88,-146.0,510.7,-23.6,84,1661,0.00,2.03,0.00,0.000,6,0.000,0.031,2501,2549,3651
$GC,1923,-0.88,-146.0,575.6,-24.7,91,1928,0.00,2.42,0.00,0.000,4,0.000,0.116,2493,3891,3649
$GC,1962,-0.88,-146.0,585.4,-25.1,92,1966,0.00,2.00,0.00,0.000,6,0.000,0.033,2500,2544,3648
$GC,2250,-0.88,-146.0,653.0,-23.3,99,2254,0.00,2.42,0.00,0.000,4,0.000,0.117,2491,3883,3645
$GC,2282,-0.88,-146.0,660.8,-24.0,99,2289,0.00,2.03,0.00,0.000,6,0.000,0.034,2496,2543,3645
$GC,2533,-0.88,-146.0,719.3,-23.5,106,2537,0.00,2.42,0.00,0.000,4,0.000,0.115,2487,3889,3643
$GC,2609,-0.88,-146.0,737.2,-21.6,107,2616,0.00,2.03,0.00,0.000,6,0.000,0.034,2495,2550,3642
$GC,2859,-0.88,-146.0,790.5,-21.4,114,2863,0.00,2.40,0.00,0.000,4,0.000,0.116,2487,3883,3639
$GC,2944,-0.88,-146.0,808.8,-21.3,116,2947,0.00,2.00,0.00,0.000,6,0.000,0.035,2494,2547,3638
$GC,3233,-0.88,-146.0,868.2,-20.3,123,3237,0.00,2.42,0.00,0.000,4,0.000,0.115,2485,3893,3636
$GC,3337,-0.88,-146.0,889.5,-20.3,125,3342,0.00,2.05,0.00,0.000,6,0.000,0.036,2492,2548,3635
$STATE,3400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3400,begin apogee
$GC,3403,-0.32,0.0,902.1,20.3,127,3528,0.75,0.00,121.75,1.274,6,0.211,0.000,2692,2540,3050
$STATE,3529,end apogee,CONTROL_FINISHED_OK
$STATE,3529,begin climb
$GC,3531,0.88,146.0,907.3,0.0,130,3669,1.23,2.30,130.45,1.230,4,0.117,0.038,3086,1137,2454
$GC,3707,0.88,146.0,890.5,21.8,134,3712,0.00,2.53,0.00,0.000,6,0.000,0.077,3083,2544,2449
$GC,3981,0.88,146.0,821.1,25.7,141,3985,0.00,2.17,0.00,0.000,4,0.000,0.037,3092,1131,2443
$GC,4025,0.88,146.0,810.0,23.4,142,4029,0.00,2.38,0.00,0.000,6,0.000,0.071,3092,2553,2443
$GC,4313,0.88,146.0,738.4,25.0,149,4317,0.00,2.15,0.00,0.000,4,0.000,0.037,3103,1142,2440
$GC,4340,0.88,146.0,731.9,24.2,149,4344,0.00,2.38,0.00,0.000,6,0.000,0.067,3097,2550,2440
$GC,4602,0.88,146.0,673.6,22.0,156,4605,0.00,2.17,0.00,0.000,4,0.000,0.038,3106,1137,2438
$GC,4701,0.88,146.0,652.5,21.0,158,4706,0.00,2.38,0.00,0.000,6,0.000,0.071,3106,2549,2438
$GC,4979,0.88,146.0,593.9,20.8,165,4983,0.00,2.12,0.00,0.000,4,0.000,0.038,3117,1139,2436
$GC,5056,0.88,146.0,578.4,19.7,166,5061,0.00,2.35,0.00,0.000,6,0.000,0.067,3111,2548,2436
$GC,5313,0.88,146.0,527.0,20.5,173,5317,0.00,2.15,0.00,0.000,4,0.000,0.038,3120,1138,2434
$GC,5474,0.88,146.0,495.1,18.6,176,5479,0.12,2.35,0.00,0.000,6,0.244,0.070,3090,2549,2433
$GC,5735,0.88,146.0,444.4,19.1,183,5739,0.00,2.25,0.00,0.000,4,0.000,0.081,3084,3901,2432
$GC,5812,0.88,146.0,428.5,20.2,184,5817,0.00,2.08,0.00,0.000,6,0.000,0.039,3092,2563,2431
$GC,6069,0.88,146.0,382.4,17.6,191,6072,0.00,2.17,0.00,0.000,4,0.000,0.039,3104,1129,2431
$GC,6173,0.88,146.0,366.8,13.6,193,6178,0.00,2.35,0.00,0.000,6,0.000,0.065,3097,2554,2431
$GC,6446,0.88,146.0,329.6,13.1,200,6450,0.00,2.15,0.00,0.000,4,0.000,0.037,3106,1116,2430
$GC,6540,0.88,146.0,319.2,10.9,202,6544,0.00,2.38,0.00,0.000,6,0.000,0.070,3106,2547,2430
$GC,6825,0.88,146.0,284.6,13.0,209,6828,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1131,2429
$GC,6907,0.88,146.0,274.4,12.2,210,6916,0.10,2.33,0.00,0.000,6,0.239,0.064,3093,2548,2429
$GC,7157,0.88,146.0,244.8,11.4,217,7161,0.00,2.15,0.00,0.000,4,0.000,0.038,3103,1124,2428
$GC,7217,0.88,147.0,238.3,10.0,218,7222,0.00,2.33,0.00,0.000,6,0.000,0.063,3097,2549,2429
$GC,7490,0.93,187.2,215.0,8.1,225,7526,0.00,2.25,30.92,0.795,4,0.000,0.076,3097,3903,2285
$GC,7673,0.93,187.2,185.5,19.2,232,7677,0.00,2.08,0.00,0.000,6,0.000,0.038,3106,2535,2283
$GC,7940,0.93,187.2,141.6,14.9,257,7944,0.00,2.08,0.00,0.000,4,0.000,0.034,3117,1146,2280
$GC,7964,0.93,187.2,138.3,13.9,259,7968,0.00,2.30,0.00,0.000,6,0.000,0.063,3118,2564,2280
$GC,8226,0.93,187.2,105.7,10.3,283,8230,0.00,2.15,0.00,0.000,4,0.000,0.034,3129,1137,2280
$GC,8238,0.95,200.2,104.5,9.4,284,8255,0.00,2.28,11.65,0.660,6,0.000,0.059,3125,2551,2232
$GC,8520,0.95,200.2,74.3,10.4,310,8524,0.00,2.17,0.00,0.000,4,0.000,0.069,3124,3895,2231
$GC,8673,0.95,200.2,53.3,13.4,324,8677,0.00,2.00,0.00,0.000,6,0.000,0.033,3132,2547,2231
$GC,8937,0.95,200.2,19.4,14.5,355,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2541,2231
$STATE,9051,end climb,SURFACE_DEPTH_REACHED
$STATE,9051,begin surface coast
$FINISH,0.2,1.023327
$STATE,9073,end surface coast,CONTROL_FINISHED_OK
$STATE,9074,begin surface
$SM_CCo,9089,109.22,0.594,0,0,1336,420.19
$SM_GC,1.31,0.00,0.00,109.22,0.000,0.000,0.594,52,2537,1336,-8.59,-0.37,420.19
$IRIDIUM_FIX,2227.67,-15804.98,190300,212107
$TT8_MAMPS,0.023777
$HUMID,1665
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.0,17.971
$10V_AH,10.7,9.570
$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,22.225,106.925,294.775,109.225,0.000,48.720,87.082,194.964,0.000,0.000,0.000,15.378,847.849,6378.165,481.019,1541.649,442.838,33.347,1148.522,0.000,1529.479,0.000,0.542,0.000
$DEVICE_MAMPS,275.353,117.351,1273.987,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.836,550.894,566.525,127.711,528.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32014,380
$CAP_FILE_SIZE,82848,0
$CFSIZE,260165632,255508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,1
$GPS,251210,003136,2233.681,-15804.575,37,0.9,44,10.0