version: 66.04
glider: 512
mission: 1
dive: 86
start: 12 25 110 5 58 58
data:
$ID,512
$MISSION,1
$DIVE,86
$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,-7074.5015
$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,36
$R_STBD_OVSHOOT,18
$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
$GPS1,054113,2233.737,-15802.256,13,1.8,31,10.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.1
$GPS2,055806,2233.782,-15802.147,15,1.1,31,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.251,0.066
$KALMAN_X,-92927.2,120.2,359.4,107701.6,-6194.2
$KALMAN_Y,-97017.2,1222.2,608.9,194261.1,-10569.9
$MHEAD_RNG_PITCHd_Wd,65.2,21097,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-70.30,0.000,2,0.000,0.000,52,2552,3035
$GC,89,-0.88,-146.0,3.8,-8.2,9,114,11.52,2.45,-8.95,0.000,4,0.270,0.120,2547,3894,3498
$GC,182,-0.88,-146.0,42.5,-37.6,22,191,0.00,2.05,0.00,0.000,6,0.000,0.030,2554,2547,3499
$GC,446,-0.88,-146.0,140.6,-32.9,47,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2540,3500
$GC,696,-0.88,-146.0,209.7,-24.8,68,700,0.00,2.08,0.00,0.000,4,0.000,0.029,2565,1132,3501
$GC,728,-0.88,-146.0,217.3,-22.0,68,733,0.00,2.42,0.00,0.000,6,0.000,0.085,2556,2545,3501
$GC,984,-0.88,-146.0,273.4,-21.9,75,988,0.00,2.30,0.00,0.000,4,0.000,0.091,2545,3907,3501
$GC,1094,-0.88,-146.0,297.1,-19.9,77,1099,0.00,2.05,0.00,0.000,6,0.000,0.029,2553,2537,3502
$GC,1355,-0.88,-146.0,354.7,-22.8,84,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2530,3502
$GC,1599,-0.88,-146.0,404.4,-20.2,90,1603,0.00,2.03,0.00,0.000,4,0.000,0.031,2562,1140,3500
$GC,1620,-0.88,-146.0,408.5,-19.9,90,1625,0.00,2.40,0.00,0.000,6,0.000,0.082,2553,2554,3500
$GC,1887,-0.88,-146.0,458.4,-18.7,97,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2554,3498
$GC,2130,-0.88,-146.0,501.6,-17.4,103,2134,0.00,2.30,0.00,0.000,4,0.000,0.096,2542,3903,3497
$GC,2264,-0.88,-146.0,524.1,-16.7,106,2268,0.00,2.03,0.00,0.000,6,0.000,0.032,2550,2553,3496
$GC,2547,-0.88,-146.0,570.4,-16.5,113,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2546,3493
$GC,2791,-0.88,-146.0,609.2,-15.8,119,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2546,3491
$GC,3035,-0.88,-146.0,649.5,-16.7,125,3039,0.00,2.40,0.00,0.000,4,0.000,0.112,2541,3900,3488
$GC,3139,-0.88,-146.0,667.8,-17.6,127,3144,0.00,2.08,0.00,0.000,6,0.000,0.035,2548,2544,3487
$GC,3406,-0.88,-146.0,712.3,-16.5,134,3410,0.00,2.42,0.00,0.000,4,0.000,0.113,2539,3900,3485
$GC,3432,-0.88,-146.0,716.8,-16.7,134,3437,0.00,2.03,0.00,0.000,6,0.000,0.035,2547,2556,3485
$GC,3689,-0.88,-146.0,755.6,-15.2,141,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2549,3482
$GC,3933,-0.88,-146.0,791.0,-14.3,147,3937,0.00,2.40,0.00,0.000,4,0.000,0.113,2539,3897,3480
$GC,4017,-0.88,-146.0,803.7,-14.6,149,4020,0.00,2.03,0.00,0.000,6,0.000,0.037,2547,2548,3479
$GC,4306,-0.88,-146.0,843.8,-13.8,156,4310,0.00,2.42,0.00,0.000,4,0.000,0.113,2538,3901,3476
$GC,4349,-0.88,-146.0,850.5,-14.5,157,4353,0.00,2.05,0.00,0.000,6,0.000,0.037,2546,2551,3476
$GC,4632,-0.88,-146.0,891.8,-14.6,164,4636,0.00,2.42,0.00,0.000,4,0.000,0.114,2537,3899,3474
$GC,4681,-0.88,-146.0,899.7,-15.6,165,4686,0.00,2.05,0.00,0.000,6,0.000,0.037,2545,2550,3474
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4695,-0.32,0.0,901.3,15.5,165,4818,0.68,0.00,120.62,1.285,6,0.190,0.000,2738,2542,2900
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4821,0.88,146.0,905.3,0.0,168,4968,1.17,2.28,133.25,1.214,4,0.080,0.036,3143,1153,2303
$GC,4995,0.88,146.0,881.7,27.7,172,5002,0.00,2.45,0.00,0.000,6,0.000,0.066,3137,2547,2298
$GC,5245,0.88,146.0,806.2,30.4,179,5249,0.00,2.17,0.00,0.000,4,0.000,0.037,3146,1144,2292
$GC,5289,0.88,146.0,792.8,30.6,180,5294,0.00,2.35,0.00,0.000,6,0.000,0.066,3146,2556,2292
$GC,5572,0.88,146.0,707.7,30.2,187,5576,0.00,2.15,0.00,0.000,4,0.000,0.037,3155,1142,2289
$GC,5666,0.88,146.0,681.3,27.6,189,5670,0.00,2.35,0.00,0.000,6,0.000,0.064,3150,2555,2288
$GC,5951,0.88,146.0,601.2,28.0,196,5954,0.00,2.15,0.00,0.000,4,0.000,0.037,3159,1143,2286
$GC,5960,0.88,146.0,598.1,27.5,196,5965,0.00,2.28,0.00,0.000,6,0.000,0.058,3159,2548,2286
$GC,6238,0.88,146.0,520.1,28.1,203,6242,0.00,2.15,0.00,0.000,4,0.000,0.038,3168,1140,2285
$GC,6304,0.88,146.0,503.0,25.3,204,6309,0.10,2.33,0.00,0.000,6,0.255,0.066,3139,2538,2285
$GC,6571,0.88,146.0,435.2,25.4,211,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2539,2283
$GC,6814,0.88,146.0,373.0,25.1,217,6817,0.00,2.12,0.00,0.000,4,0.000,0.038,3149,1137,2282
$GC,6936,0.88,146.0,343.3,24.3,219,6940,0.00,2.33,0.00,0.000,6,0.000,0.063,3149,2549,2282
$GC,7192,0.88,146.0,286.0,21.6,226,7196,0.00,2.12,0.00,0.000,4,0.000,0.037,3159,1139,2281
$GC,7224,0.88,146.0,278.7,21.1,226,7229,0.00,2.33,0.00,0.000,6,0.000,0.064,3159,2550,2281
$GC,7480,0.88,146.0,230.2,19.1,233,7483,0.00,2.12,0.00,0.000,4,0.000,0.037,3168,1145,2280
$GC,7562,0.88,146.0,214.5,18.1,234,7570,0.10,2.28,0.00,0.000,6,0.247,0.058,3139,2552,2280
$GC,7822,0.88,146.0,167.7,17.9,253,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2552,2280
$GC,8077,0.88,146.0,123.4,16.5,277,8081,0.00,2.12,0.00,0.000,4,0.000,0.035,3149,1133,2279
$GC,8322,0.88,146.0,93.9,10.5,299,8326,0.00,2.28,0.00,0.000,6,0.000,0.061,3150,2549,2280
$GC,8584,0.88,146.0,68.8,10.1,323,8588,0.00,2.15,0.00,0.000,4,0.000,0.065,3150,3900,2280
$GC,8618,0.88,146.0,65.2,10.5,326,8622,0.00,2.00,0.00,0.000,6,0.000,0.033,3159,2538,2280
$GC,8886,0.88,146.0,38.9,10.3,351,8890,0.00,2.20,0.00,0.000,4,0.000,0.064,3151,3900,2280
$GC,8942,0.88,146.0,32.7,10.7,356,8946,0.00,1.98,0.00,0.000,6,0.000,0.033,3159,2550,2280
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9202,begin surface coast
$FINISH,0.3,1.023474
$STATE,9229,end surface coast,CONTROL_FINISHED_OK
$STATE,9230,begin surface
$SM_CCo,9245,128.50,0.599,0,0,1186,420.19
$SM_GC,1.08,0.00,0.00,128.50,0.000,0.000,0.599,51,2540,1186,-8.75,-0.28,420.19
$IRIDIUM_FIX,2225.34,-15759.78,200300,050526
$TT8_MAMPS,0.023777
$HUMID,1673
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.40
$XPDR_PINGS,5
$24V_AH,24.0,18.406
$10V_AH,10.7,9.813
$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,22.225,93.075,253.875,128.500,0.000,86.116,106.580,593.455,1.250,0.000,0.000,31.576,856.767,6620.826,470.291,1547.391,903.318,33.358,1095.973,0.000,1525.851,0.000,0.543,0.000
$DEVICE_MAMPS,269.984,119.652,1284.725,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.405,609.371,629.021,148.406,608.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31934,407
$CAP_FILE_SIZE,88761,0
$CFSIZE,260165632,255377408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,251210,083624,2233.514,-15801.201,38,1.5,38,10.0