version: 66.04
glider: 512
mission: 1
dive: 87
start: 12 25 110 8 43 37
data:
$ID,512
$MISSION,1
$DIVE,87
$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,-7090.1455
$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,52
$R_STBD_OVSHOOT,20
$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
$GPS1,083624,2233.514,-15801.201,38,1.5,38,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.8
$GPS2,084244,2233.495,-15801.201,14,1.6,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.080,0.247
$KALMAN_X,-95727.9,538.9,226.7,111849.9,-7868.9
$KALMAN_Y,-97617.9,951.6,751.2,194457.9,-9473.3
$MHEAD_RNG_PITCHd_Wd,7.9,21405,-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,-70.00,0.000,2,0.000,0.000,50,2540,3024
$GC,88,-0.88,-146.0,3.4,-6.2,9,121,11.70,2.45,-9.40,0.000,4,0.274,0.114,2547,3896,3499
$GC,284,-0.88,-146.0,73.1,-29.8,32,288,0.00,2.00,0.00,0.000,6,0.000,0.031,2554,2562,3500
$GC,552,-0.88,-146.0,152.8,-27.0,57,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2555,3501
$GC,813,-0.88,-146.0,222.6,-26.5,76,816,0.00,2.10,0.00,0.000,4,0.000,0.029,2565,1129,3502
$GC,844,-0.88,-146.0,230.1,-20.7,76,850,0.00,2.42,0.00,0.000,6,0.000,0.085,2555,2542,3503
$GC,1100,-0.88,-146.0,286.4,-21.6,83,1104,0.00,2.30,0.00,0.000,4,0.000,0.095,2545,3896,3503
$GC,1143,-0.88,-146.0,296.3,-22.3,84,1148,0.00,2.03,0.00,0.000,6,0.000,0.031,2553,2543,3503
$GC,1428,-0.88,-146.0,353.3,-20.2,91,1432,0.00,2.45,0.00,0.000,4,0.000,0.117,2544,3897,3503
$GC,1460,-0.88,-146.0,360.1,-19.6,91,1467,0.00,2.03,0.00,0.000,6,0.000,0.031,2551,2546,3503
$GC,1710,-0.88,-146.0,406.3,-18.4,98,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2539,3502
$GC,1954,-0.88,-146.0,449.5,-17.8,104,1958,0.00,2.45,0.00,0.000,4,0.000,0.119,2543,3896,3500
$GC,2052,-0.88,-146.0,467.0,-17.0,106,2057,0.00,2.03,0.00,0.000,6,0.000,0.033,2550,2548,3499
$GC,2325,-0.88,-146.0,512.2,-16.4,113,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2539,3497
$GC,2569,-0.88,-146.0,551.3,-16.2,119,2573,0.00,2.45,0.00,0.000,4,0.000,0.122,2541,3892,3496
$GC,2645,-0.88,-146.0,564.7,-15.5,120,2653,0.00,2.03,0.00,0.000,6,0.000,0.035,2549,2546,3495
$GC,2897,-0.88,-146.0,605.4,-16.3,127,2901,0.00,2.45,0.00,0.000,4,0.000,0.121,2540,3893,3492
$GC,2945,-0.88,-146.0,614.5,-17.1,128,2950,0.00,2.03,0.00,0.000,6,0.000,0.035,2547,2548,3492
$GC,3223,-0.88,-146.0,660.3,-16.3,135,3227,0.00,2.45,0.00,0.000,4,0.000,0.121,2539,3896,3489
$GC,3289,-0.88,-146.0,671.8,-16.5,136,3294,0.00,2.03,0.00,0.000,6,0.000,0.036,2546,2555,3489
$GC,3552,-0.88,-146.0,713.3,-15.9,143,3556,0.00,2.45,0.00,0.000,4,0.000,0.120,2538,3899,3487
$GC,3594,-0.88,-146.0,720.9,-16.6,144,3599,0.00,2.05,0.00,0.000,6,0.000,0.036,2546,2546,3487
$GC,3879,-0.88,-146.0,766.5,-16.3,151,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2539,3485
$GC,4121,-0.88,-146.0,804.5,-15.4,157,4126,0.00,2.45,0.00,0.000,4,0.000,0.120,2537,3893,3482
$GC,4170,-0.88,-146.0,812.6,-14.7,158,4175,0.00,2.03,0.00,0.000,6,0.000,0.037,2545,2555,3482
$GC,4448,-0.88,-146.0,853.3,-14.6,165,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2548,3480
$GC,4693,-0.88,-146.0,888.1,-14.2,171,4697,0.00,2.42,0.00,0.000,4,0.000,0.120,2536,3891,3478
$GC,4736,-0.88,-146.0,894.8,-14.8,172,4741,0.00,2.03,0.00,0.000,6,0.000,0.038,2544,2556,3477
$STATE,4775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4775,begin apogee
$GC,4779,-0.32,0.0,900.1,13.4,173,4904,0.70,0.00,121.93,1.285,6,0.190,0.000,2739,2548,2900
$STATE,4904,end apogee,CONTROL_FINISHED_OK
$STATE,4904,begin climb
$GC,4906,0.88,146.0,903.7,0.0,176,5049,1.17,0.00,134.73,1.230,6,0.081,0.000,3131,2547,2304
$GC,5260,0.88,146.0,820.3,31.8,185,5264,0.00,2.20,0.00,0.000,4,0.000,0.037,3142,1137,2294
$GC,5294,0.88,146.0,809.9,30.9,185,5298,0.00,2.40,0.00,0.000,6,0.000,0.070,3137,2556,2293
$GC,5544,0.88,146.0,731.8,31.1,191,5547,0.00,2.17,0.00,0.000,4,0.000,0.038,3147,1140,2290
$GC,5603,0.88,146.0,713.1,30.0,192,5608,0.00,2.42,0.00,0.000,6,0.000,0.073,3146,2555,2289
$GC,5876,0.88,146.0,628.8,30.9,199,5880,0.00,2.15,0.00,0.000,4,0.000,0.037,3156,1139,2288
$GC,5898,0.88,146.0,622.4,29.0,199,5903,0.00,2.35,0.00,0.000,6,0.000,0.071,3150,2556,2287
$GC,6159,0.88,146.0,546.7,29.1,206,6163,0.00,2.15,0.00,0.000,4,0.000,0.037,3159,1146,2286
$GC,6185,0.88,146.0,539.1,27.2,206,6190,0.00,2.35,0.00,0.000,6,0.000,0.069,3159,2545,2286
$GC,6448,0.88,146.0,467.5,27.3,213,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2546,2284
$GC,6690,0.88,146.0,403.6,26.3,219,6694,0.00,2.12,0.00,0.000,4,0.000,0.038,3168,1141,2284
$GC,6722,0.88,146.0,395.5,24.0,219,6728,0.10,2.35,0.00,0.000,6,0.260,0.070,3140,2546,2284
$GC,6979,0.88,146.0,334.5,24.0,226,6982,0.00,2.25,0.00,0.000,4,0.000,0.078,3138,3906,2283
$GC,7005,0.88,146.0,327.8,24.6,226,7010,0.00,2.08,0.00,0.000,6,0.000,0.038,3146,2554,2282
$GC,7266,0.88,146.0,268.3,22.2,233,7270,0.00,2.12,0.00,0.000,4,0.000,0.037,3157,1132,2281
$GC,7401,0.88,146.0,241.1,17.7,236,7405,0.00,2.28,0.00,0.000,6,0.000,0.063,3150,2551,2281
$GC,7655,0.88,146.0,196.5,17.0,243,7659,0.00,2.12,0.00,0.000,4,0.000,0.036,3159,1139,2280
$GC,7726,0.88,146.0,184.3,16.9,249,7735,0.00,2.35,0.00,0.000,6,0.000,0.068,3159,2550,2280
$GC,7988,0.88,146.0,137.6,16.1,274,7991,0.00,2.12,0.00,0.000,4,0.000,0.036,3168,1140,2280
$GC,8243,0.88,146.0,95.0,14.9,297,8247,0.00,2.30,0.00,0.000,6,0.000,0.064,3163,2559,2280
$GC,8506,0.91,170.0,67.5,8.9,321,8532,0.00,2.15,17.30,0.653,4,0.000,0.032,3172,1137,2205
$GC,8688,0.91,170.0,45.5,13.8,337,8692,0.00,2.28,0.00,0.000,6,0.000,0.059,3172,2549,2203
$GC,8950,0.91,170.0,8.4,15.3,374,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2549,2202
$STATE,8984,end climb,SURFACE_DEPTH_REACHED
$STATE,8984,begin surface coast
$FINISH,0.2,1.023506
$STATE,9001,end surface coast,CONTROL_FINISHED_OK
$STATE,9002,begin surface
$SM_CCo,9017,120.55,0.614,0,0,1186,420.19
$SM_GC,1.18,0.00,0.00,120.55,0.000,0.000,0.614,49,2556,1186,-8.75,0.17,420.19
$IRIDIUM_FIX,2223.01,-15759.78,200300,060640
$TT8_MAMPS,0.023777
$HUMID,1695
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.0,18.539
$10V_AH,10.7,9.894
$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,22.350,93.825,273.950,120.550,0.000,28.898,40.886,229.672,0.000,0.000,0.000,15.016,820.815,6389.694,525.047,1395.469,397.862,33.363,1102.905,0.000,1391.935,0.000,0.543,0.000
$DEVICE_MAMPS,273.819,121.953,1285.492,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,259.825,559.913,576.116,128.933,538.732,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32023,383
$CAP_FILE_SIZE,76305,0
$CFSIZE,260165632,255344640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,251210,111638,2234.626,-15800.766,9,1.9,9,10.0