version: 66.04
glider: 512
mission: 1
dive: 84
start: 12 25 110 0 36 49
data:
$ID,512
$MISSION,1
$DIVE,84
$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,-7027.4272
$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,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2950
$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
$GPS1,003136,2233.681,-15804.575,37,0.9,44,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.8
$GPS2,003556,2233.693,-15804.590,15,1.5,15,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.211,0.152
$KALMAN_X,-91026.3,499.7,351.7,101223.5,-6950.8
$KALMAN_Y,-94424.2,1507.7,795.2,191034.8,-11079.4
$MHEAD_RNG_PITCHd_Wd,44.3,22360,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-62.83,0.000,2,0.000,0.000,52,2538,2974
$GC,81,-0.88,-146.0,3.5,-7.7,8,114,11.52,2.40,-11.40,0.000,4,0.275,0.106,2498,3893,3548
$GC,255,-0.88,-146.0,74.1,-40.1,29,259,0.00,2.03,0.00,0.000,6,0.000,0.032,2506,2555,3550
$GC,521,-0.88,-146.0,180.8,-37.1,54,525,0.00,2.35,0.00,0.000,4,0.000,0.099,2497,3893,3552
$GC,573,-0.88,-146.0,199.5,-35.9,58,577,0.00,2.00,0.00,0.000,6,0.000,0.029,2505,2541,3552
$GC,827,-0.88,-146.0,281.6,-31.6,65,831,0.00,2.38,0.00,0.000,4,0.000,0.102,2496,3893,3553
$GC,853,-0.88,-146.0,289.7,-30.5,65,858,0.00,2.03,0.00,0.000,6,0.000,0.029,2504,2540,3553
$GC,1115,-0.88,-146.0,362.1,-28.2,72,1120,0.00,2.40,0.00,0.000,4,0.000,0.106,2495,3887,3554
$GC,1170,-0.88,-146.0,376.9,-26.2,73,1174,0.00,2.00,0.00,0.000,6,0.000,0.029,2503,2549,3554
$GC,1442,-0.88,-146.0,441.3,-23.6,80,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2542,3554
$GC,1687,-0.88,-146.0,500.2,-24.1,86,1691,0.00,2.38,0.00,0.000,4,0.000,0.109,2494,3886,3552
$GC,1815,-0.88,-146.0,530.9,-23.6,89,1819,0.00,1.98,0.00,0.000,6,0.000,0.033,2502,2553,3551
$GC,2104,-0.88,-146.0,596.3,-22.5,96,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2547,3549
$GC,2347,-0.88,-146.0,646.9,-20.4,102,2351,0.00,2.40,0.00,0.000,4,0.000,0.114,2493,3895,3547
$GC,2418,-0.88,-146.0,662.2,-20.2,103,2422,0.00,2.03,0.00,0.000,6,0.000,0.035,2500,2552,3546
$GC,2673,-0.88,-146.0,713.5,-20.0,110,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2544,3543
$GC,2918,-0.88,-146.0,762.9,-20.3,116,2922,0.00,2.40,0.00,0.000,4,0.000,0.113,2491,3891,3541
$GC,3011,-0.88,-146.0,783.4,-21.5,118,3016,0.00,2.03,0.00,0.000,6,0.000,0.035,2498,2554,3540
$GC,3289,-0.88,-146.0,841.8,-21.2,125,3293,0.00,2.40,0.00,0.000,4,0.000,0.115,2489,3890,3538
$GC,3348,-0.88,-146.0,855.0,-22.1,126,3353,0.00,2.03,0.00,0.000,6,0.000,0.036,2496,2554,3537
$STATE,3575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3575,begin apogee
$GC,3578,-0.32,0.0,901.9,20.6,132,3704,0.73,0.00,122.12,1.269,6,0.210,0.000,2689,2546,2950
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3706,0.88,146.0,909.7,0.0,135,3845,1.27,2.28,131.40,1.232,4,0.134,0.036,3081,1151,2353
$GC,3917,0.88,146.0,877.9,24.3,140,3922,0.00,2.47,0.00,0.000,6,0.000,0.074,3081,2547,2346
$GC,4201,0.88,146.0,805.2,25.7,147,4205,0.00,2.15,0.00,0.000,4,0.000,0.038,3090,1144,2341
$GC,4245,0.88,146.0,794.1,25.0,148,4249,0.00,2.35,0.00,0.000,6,0.000,0.068,3083,2552,2341
$GC,4533,0.88,146.0,720.5,25.5,155,4537,0.00,2.15,0.00,0.000,4,0.000,0.038,3093,1147,2339
$GC,4554,0.88,146.0,715.0,25.5,155,4559,0.00,2.35,0.00,0.000,6,0.000,0.067,3092,2550,2338
$GC,4821,0.88,146.0,646.3,25.8,162,4825,0.00,2.15,0.00,0.000,4,0.000,0.038,3102,1146,2337
$GC,4915,0.88,146.0,623.7,23.5,164,4919,0.00,2.35,0.00,0.000,6,0.000,0.067,3097,2556,2337
$GC,5200,0.88,146.0,556.0,23.4,171,5203,0.00,2.12,0.00,0.000,4,0.000,0.038,3106,1144,2334
$GC,5254,0.88,146.0,543.3,21.6,172,5259,0.00,2.35,0.00,0.000,6,0.000,0.069,3106,2549,2335
$GC,5532,0.88,146.0,481.8,22.0,179,5536,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1139,2333
$GC,5541,0.88,146.0,479.6,21.6,179,5547,0.10,2.33,0.00,0.000,6,0.249,0.065,3090,2550,2333
$GC,5821,0.88,146.0,422.2,20.5,186,5824,0.00,2.15,0.00,0.000,4,0.000,0.039,3100,1144,2332
$GC,5886,0.88,146.0,408.9,18.7,187,5891,0.00,2.35,0.00,0.000,6,0.000,0.068,3097,2556,2332
$GC,6153,0.88,146.0,358.3,18.7,194,6157,0.00,2.12,0.00,0.000,4,0.000,0.038,3107,1137,2331
$GC,6349,0.88,146.0,323.0,17.3,198,6353,0.00,2.33,0.00,0.000,6,0.000,0.068,3106,2553,2330
$GC,6621,0.88,146.0,275.4,17.8,205,6624,0.00,2.15,0.00,0.000,4,0.000,0.038,3117,1137,2329
$GC,6755,0.88,146.0,255.2,13.5,208,6760,0.12,2.30,0.00,0.000,6,0.240,0.064,3088,2565,2329
$GC,7042,0.88,146.0,218.8,12.5,215,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2565,2328
$GC,7291,0.88,146.0,186.4,12.5,227,7295,0.00,2.12,0.00,0.000,4,0.000,0.036,3098,1137,2328
$GC,7360,0.88,146.0,177.8,13.3,233,7368,0.00,2.33,0.00,0.000,6,0.000,0.064,3097,2553,2328
$GC,7622,0.88,146.0,144.4,11.1,258,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2553,2328
$GC,7877,0.88,146.0,117.5,10.7,282,7881,0.00,2.12,0.00,0.000,4,0.000,0.034,3106,1134,2329
$GC,7921,0.88,146.0,112.5,11.6,286,7925,0.00,2.28,0.00,0.000,6,0.000,0.059,3106,2558,2329
$GC,8182,1.02,261.7,90.7,4.7,310,8276,0.00,0.00,89.93,0.680,6,0.000,0.000,3106,2558,1882
$GC,8530,1.02,261.7,21.8,25.8,345,8538,0.00,2.15,0.00,0.000,4,0.000,0.031,3117,1150,1875
$GC,8556,1.02,261.7,15.1,26.6,349,8564,0.00,2.30,0.00,0.000,6,0.000,0.060,3115,2544,1874
$STATE,8607,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$FINISH,0.1,1.023394
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8635,72.22,0.617,0,0,1236,420.19
$SM_GC,1.10,0.00,0.00,72.22,0.000,0.000,0.617,49,2550,1236,-8.60,0.00,420.19
$IRIDIUM_FIX,2225.34,-15801.95,190300,222257
$TT8_MAMPS,0.023777
$HUMID,1704
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.9,18.101
$10V_AH,10.7,9.643
$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,22.325,89.100,343.450,72.225,0.000,27.392,32.431,120.867,0.000,0.000,0.000,16.074,770.048,6085.592,465.878,1383.831,273.546,33.346,1085.815,0.000,1373.523,0.000,0.541,0.000
$DEVICE_MAMPS,275.353,115.050,1269.385,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,243.090,521.712,537.514,106.614,444.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28769,360
$CAP_FILE_SIZE,71525,0
$CFSIZE,260165632,255479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,251210,030301,2233.743,-15803.344,14,1.6,32,10.0