version: 66.04
glider: 512
mission: 1
dive: 85
start: 12 25 110 3 15 0
data:
$ID,512
$MISSION,1
$DIVE,85
$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,-7042.2964
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,46
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,030301,2233.743,-15803.344,14,1.6,32,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-79.0
$GPS2,031407,2233.786,-15803.329,14,1.0,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.216,0.144
$KALMAN_X,-91566.0,72.9,381.5,104328.9,-6248.9
$KALMAN_Y,-95664.7,1456.4,634.4,192655.2,-11152.1
$MHEAD_RNG_PITCHd_Wd,46.2,21533,-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,-62.45,0.000,2,0.000,0.000,49,2550,2839
$GC,81,-0.88,-146.0,3.0,-5.5,8,113,11.68,2.38,-14.43,0.000,4,0.273,0.113,2544,3899,3495
$GC,211,-0.88,-146.0,45.0,-33.2,26,215,0.00,2.03,0.00,0.000,6,0.000,0.031,2552,2547,3497
$GC,479,-0.88,-146.0,142.7,-34.0,51,483,0.00,2.10,0.00,0.000,4,0.000,0.030,2562,1120,3498
$GC,503,-0.88,-146.0,150.3,-31.9,53,507,0.00,2.47,0.00,0.000,6,0.000,0.093,2553,2546,3498
$GC,761,-0.88,-146.0,225.5,-28.2,71,765,0.00,2.33,0.00,0.000,4,0.000,0.094,2542,3904,3499
$GC,809,-0.88,-146.0,239.6,-26.5,72,814,0.00,2.05,0.00,0.000,6,0.000,0.029,2550,2539,3499
$GC,1087,-0.88,-146.0,308.2,-23.6,79,1091,0.00,2.42,0.00,0.000,4,0.000,0.108,2541,3900,3500
$GC,1130,-0.88,-146.0,319.5,-25.4,80,1135,0.00,2.03,0.00,0.000,6,0.000,0.030,2547,2544,3500
$GC,1414,-0.88,-146.0,385.4,-22.8,87,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2537,3500
$GC,1658,-0.88,-146.0,436.5,-20.7,93,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2537,3499
$GC,1903,-0.88,-146.0,484.5,-19.6,99,1907,0.00,2.42,0.00,0.000,4,0.000,0.110,2538,3901,3497
$GC,2007,-0.88,-146.0,506.0,-19.6,101,2011,0.00,2.03,0.00,0.000,6,0.000,0.032,2546,2550,3496
$GC,2274,-0.88,-146.0,557.1,-18.9,108,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2543,3494
$GC,2517,-0.88,-146.0,601.4,-18.1,114,2521,0.00,2.42,0.00,0.000,4,0.000,0.114,2537,3901,3492
$GC,2549,-0.88,-146.0,607.5,-18.4,114,2556,0.00,2.03,0.00,0.000,6,0.000,0.034,2545,2552,3492
$GC,2800,-0.88,-146.0,650.5,-17.0,121,2804,0.00,2.42,0.00,0.000,4,0.000,0.116,2537,3900,3489
$GC,2859,-0.88,-146.0,661.0,-17.7,122,2864,0.00,2.05,0.00,0.000,6,0.000,0.035,2544,2555,3488
$GC,3126,-0.88,-146.0,702.9,-15.5,129,3130,0.00,2.42,0.00,0.000,4,0.000,0.115,2536,3907,3486
$GC,3169,-0.88,-146.0,710.0,-16.2,130,3174,0.00,2.05,0.00,0.000,6,0.000,0.035,2543,2550,3485
$GC,3453,-0.88,-146.0,753.6,-15.6,137,3457,0.00,2.42,0.00,0.000,4,0.000,0.114,2535,3900,3483
$GC,3487,-0.88,-146.0,759.1,-16.7,137,3493,0.00,2.03,0.00,0.000,6,0.000,0.036,2542,2543,3483
$GC,3735,-0.88,-146.0,798.0,-15.5,144,3739,0.00,2.45,0.00,0.000,4,0.000,0.117,2533,3901,3481
$GC,3829,-0.88,-146.0,813.5,-15.6,146,3834,0.00,2.05,0.00,0.000,6,0.000,0.036,2541,2550,3479
$GC,4107,-0.88,-146.0,857.4,-15.9,153,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2544,3477
$GC,4351,-0.88,-146.0,896.4,-15.8,159,4355,0.00,2.45,0.00,0.000,4,0.000,0.115,2532,3910,3475
$STATE,4370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4371,begin apogee
$GC,4376,-0.32,0.0,900.0,16.9,159,4501,0.70,0.00,121.40,1.290,6,0.194,0.000,2739,2540,2900
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4503,0.88,146.0,904.4,0.0,162,4650,1.15,2.25,133.90,1.239,4,0.081,0.036,3140,1150,2303
$GC,4696,0.88,146.0,876.2,28.9,166,4700,0.00,2.40,0.00,0.000,6,0.000,0.063,3137,2556,2297
$GC,4951,0.88,146.0,800.0,29.9,173,4955,0.00,2.17,0.00,0.000,4,0.000,0.035,3147,1141,2292
$GC,4995,0.88,146.0,786.1,28.6,174,4999,0.00,2.38,0.00,0.000,6,0.000,0.069,3146,2551,2291
$GC,5284,0.88,146.0,696.4,31.3,181,5288,0.00,2.17,0.00,0.000,4,0.000,0.038,3156,1137,2289
$GC,5373,0.88,146.0,669.6,29.1,183,5377,0.00,2.33,0.00,0.000,6,0.000,0.063,3150,2556,2289
$GC,5662,0.88,146.0,586.3,28.5,190,5666,0.00,2.12,0.00,0.000,4,0.000,0.037,3159,1148,2286
$GC,5722,0.88,146.0,570.4,25.0,191,5726,0.00,2.33,0.00,0.000,6,0.000,0.063,3159,2551,2286
$GC,5994,0.88,146.0,499.2,25.7,198,5998,0.00,2.15,0.00,0.000,4,0.000,0.037,3168,1131,2285
$GC,6028,0.88,146.0,490.8,25.2,198,6032,0.00,2.30,0.00,0.000,6,0.000,0.061,3163,2554,2285
$GC,6276,0.88,146.0,424.2,27.2,204,6280,0.00,2.15,0.00,0.000,4,0.000,0.037,3171,1134,2283
$GC,6325,0.88,146.0,411.2,25.9,205,6330,0.12,2.35,0.00,0.000,6,0.262,0.065,3142,2549,2282
$GC,6609,0.88,146.0,342.3,23.5,212,6612,0.00,2.12,0.00,0.000,4,0.000,0.038,3152,1148,2282
$GC,6698,0.88,146.0,323.7,20.9,214,6702,0.00,2.28,0.00,0.000,6,0.000,0.061,3150,2555,2282
$GC,6987,0.88,146.0,264.7,19.8,221,6991,0.00,2.12,0.00,0.000,4,0.000,0.036,3159,1145,2281
$GC,7132,0.88,146.0,239.1,17.2,224,7136,0.00,2.28,0.00,0.000,6,0.000,0.058,3159,2544,2280
$GC,7393,0.88,146.0,191.1,19.8,232,7396,0.00,2.20,0.00,0.000,4,0.000,0.067,3159,3907,2280
$GC,7415,0.88,146.0,186.5,19.4,234,7420,0.15,2.03,0.00,0.000,6,0.275,0.035,3140,2557,2279
$GC,7677,0.88,146.0,142.4,16.4,258,7681,0.00,2.12,0.00,0.000,4,0.000,0.035,3151,1120,2279
$GC,7703,0.88,146.0,138.4,14.6,260,7712,0.00,2.30,0.00,0.000,6,0.000,0.055,3150,2547,2279
$GC,7966,0.88,146.0,104.5,10.3,285,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2547,2279
$GC,8222,0.99,235.5,86.6,5.9,309,8293,0.00,0.00,69.07,0.693,6,0.000,0.000,3150,2547,1940
$GC,8546,0.99,235.5,14.8,27.7,345,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2547,1934
$STATE,8596,end climb,SURFACE_DEPTH_REACHED
$STATE,8597,begin surface coast
$FINISH,0.1,1.023449
$STATE,8609,end surface coast,CONTROL_FINISHED_OK
$STATE,8609,begin surface
$SM_CCo,8624,83.82,0.626,0,0,1186,420.19
$SM_GC,1.07,0.00,0.00,83.82,0.000,0.000,0.626,54,2547,1186,-8.74,-0.08,420.19
$IRIDIUM_FIX,2223.01,-15734.65,200300,030314
$TT8_MAMPS,0.023777
$HUMID,1719
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,24.0,18.250
$10V_AH,10.7,9.720
$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,22.475,93.675,324.375,83.825,0.000,59.131,84.872,381.725,0.000,0.000,0.000,14.239,765.768,6188.826,473.070,1334.240,625.734,33.357,1073.626,0.000,1329.234,0.000,0.543,0.000
$DEVICE_MAMPS,274.586,116.584,1290.094,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,240.628,510.455,526.002,107.190,444.181,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28902,356
$CAP_FILE_SIZE,79562,0
$CFSIZE,260165632,255426560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,251210,054113,2233.737,-15802.256,13,1.8,31,10.0