version: 66.04
glider: 512
mission: 1
dive: 88
start: 12 25 110 11 31 54
data:
$ID,512
$MISSION,1
$DIVE,88
$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,-7122.7935
$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,44
$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
$GPS1,111638,2234.626,-15800.766,9,1.9,9,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.4
$GPS2,113103,2234.601,-15800.851,12,3.5,31,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.077,0.248
$KALMAN_X,-96475.2,987.5,529.6,112433.8,-7385.9
$KALMAN_Y,-98942.3,874.6,618.1,198046.7,-9160.6
$MHEAD_RNG_PITCHd_Wd,7.3,19314,-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,13,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-69.75,0.000,2,0.000,0.000,43,2555,3018
$GC,88,-0.88,-146.0,3.5,-7.3,9,121,11.60,2.33,-9.60,0.000,4,0.271,0.104,2544,3880,3498
$GC,307,-0.88,-146.0,81.8,-29.2,34,311,0.00,2.00,0.00,0.000,6,0.000,0.030,2552,2543,3500
$GC,573,-0.88,-146.0,161.1,-26.0,59,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2536,3501
$GC,845,-0.88,-146.0,231.6,-25.6,76,849,0.00,2.08,0.00,0.000,4,0.000,0.030,2562,1127,3502
$GC,866,-0.88,-146.0,237.6,-25.3,76,871,0.00,2.40,0.00,0.000,6,0.000,0.081,2554,2544,3502
$GC,1133,-0.88,-146.0,295.8,-21.4,83,1137,0.00,2.30,0.00,0.000,4,0.000,0.090,2543,3906,3502
$GC,1164,-0.88,-146.0,303.2,-21.9,83,1172,0.00,2.03,0.00,0.000,6,0.000,0.029,2551,2550,3502
$GC,1415,-0.88,-146.0,352.3,-19.5,90,1419,0.00,2.40,0.00,0.000,4,0.000,0.111,2542,3894,3502
$GC,1454,-0.88,-146.0,359.6,-18.6,91,1458,0.00,2.00,0.00,0.000,6,0.000,0.031,2549,2537,3502
$GC,1742,-0.88,-146.0,412.1,-17.8,98,1746,0.00,2.45,0.00,0.000,4,0.000,0.112,2541,3901,3500
$GC,1842,-0.88,-146.0,429.9,-16.7,100,1846,0.00,2.03,0.00,0.000,6,0.000,0.031,2547,2550,3500
$GC,2116,-0.88,-146.0,475.2,-16.7,107,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2544,3497
$GC,2358,-0.88,-146.0,515.1,-16.5,113,2362,0.00,2.40,0.00,0.000,4,0.000,0.112,2538,3895,3495
$GC,2412,-0.88,-146.0,524.8,-18.0,114,2416,0.00,2.03,0.00,0.000,6,0.000,0.033,2546,2548,3495
$GC,2686,-0.88,-146.0,570.2,-16.6,121,2690,0.00,2.42,0.00,0.000,4,0.000,0.113,2538,3900,3492
$GC,2785,-0.88,-146.0,587.9,-17.9,123,2790,0.00,2.03,0.00,0.000,6,0.000,0.034,2545,2556,3491
$GC,3057,-0.88,-146.0,634.4,-17.1,130,3061,0.00,2.42,0.00,0.000,4,0.000,0.114,2537,3901,3488
$GC,3072,-0.88,-146.0,637.2,-16.9,130,3077,0.00,2.05,0.00,0.000,6,0.000,0.036,2544,2548,3488
$GC,3341,-0.88,-146.0,680.0,-15.8,137,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2541,3486
$GC,3583,-0.88,-146.0,717.7,-15.4,143,3587,0.00,2.42,0.00,0.000,4,0.000,0.114,2536,3900,3484
$GC,3659,-0.88,-146.0,730.2,-15.9,144,3666,0.00,2.05,0.00,0.000,6,0.000,0.036,2544,2547,3483
$GC,3911,-0.88,-146.0,770.2,-16.1,151,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2541,3481
$GC,4153,-0.88,-146.0,808.1,-15.4,157,4157,0.00,2.42,0.00,0.000,4,0.000,0.114,2535,3897,3478
$GC,4185,-0.88,-146.0,813.4,-16.4,157,4192,0.00,2.03,0.00,0.000,6,0.000,0.036,2543,2556,3478
$GC,4435,-0.88,-146.0,849.9,-14.5,164,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2550,3476
$GC,4678,-0.88,-146.0,884.2,-14.0,170,4683,0.00,2.42,0.00,0.000,4,0.000,0.114,2534,3901,3475
$GC,4755,-0.88,-146.0,895.4,-14.7,171,4762,0.00,2.05,0.00,0.000,6,0.000,0.038,2541,2553,3475
$STATE,4801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4801,begin apogee
$GC,4804,-0.32,0.0,901.5,13.7,173,4929,0.73,0.00,121.50,1.299,6,0.191,0.000,2743,2544,2900
$STATE,4930,end apogee,CONTROL_FINISHED_OK
$STATE,4930,begin climb
$GC,4931,0.88,146.0,904.5,0.0,176,5086,1.15,2.42,135.45,1.229,4,0.072,0.074,3133,3900,2304
$GC,5141,0.88,146.0,868.0,33.5,181,5146,0.00,2.17,0.00,0.000,6,0.000,0.035,3142,2556,2299
$GC,5419,0.88,146.0,778.8,32.2,188,5422,0.00,2.17,0.00,0.000,4,0.000,0.037,3153,1137,2293
$GC,5546,0.88,146.0,740.2,28.8,190,5555,0.00,2.38,0.00,0.000,6,0.000,0.066,3150,2548,2291
$GC,5796,0.88,146.0,663.6,31.1,197,5800,0.00,2.15,0.00,0.000,4,0.000,0.038,3159,1138,2289
$GC,5834,0.88,146.0,651.9,30.9,197,5841,0.00,2.38,0.00,0.000,6,0.000,0.068,3159,2550,2289
$GC,6085,0.88,146.0,579.1,29.1,204,6089,0.00,2.17,0.00,0.000,4,0.000,0.038,3168,1132,2288
$GC,6156,0.88,146.0,559.4,26.4,205,6161,0.00,2.35,0.00,0.000,6,0.000,0.064,3163,2550,2288
$GC,6418,0.88,146.0,488.3,27.0,212,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2551,2286
$GC,6661,0.88,146.0,425.6,25.6,218,6665,0.00,2.15,0.00,0.000,4,0.000,0.038,3173,1134,2284
$GC,6744,0.88,146.0,404.7,24.0,219,6752,0.12,2.35,0.00,0.000,6,0.259,0.066,3142,2555,2284
$GC,6995,0.88,146.0,346.9,23.5,226,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2556,2283
$GC,7237,0.88,146.0,293.5,21.2,232,7241,0.00,2.15,0.00,0.000,4,0.000,0.038,3152,1134,2283
$GC,7275,0.88,146.0,285.8,19.5,232,7282,0.00,2.33,0.00,0.000,6,0.000,0.061,3150,2551,2283
$GC,7525,0.88,146.0,236.9,20.1,239,7529,0.00,2.15,0.00,0.000,4,0.000,0.037,3159,1127,2281
$GC,7681,0.88,146.0,208.0,17.4,242,7685,0.00,2.33,0.00,0.000,6,0.000,0.062,3159,2546,2281
$GC,7947,0.88,146.0,157.9,19.0,263,7951,0.00,2.12,0.00,0.000,4,0.000,0.035,3169,1130,2281
$GC,8092,0.88,146.0,132.5,15.3,276,8096,0.00,2.28,0.00,0.000,6,0.000,0.060,3163,2548,2281
$GC,8353,0.89,154.6,106.0,9.6,300,8366,0.00,2.22,4.55,0.532,4,0.000,0.073,3163,3893,2269
$GC,8614,0.89,154.6,78.1,10.1,323,8624,0.12,2.05,0.00,0.000,6,0.254,0.032,3143,2527,2269
$GC,8878,0.89,154.6,50.3,11.3,348,8881,0.00,2.05,0.00,0.000,4,0.000,0.031,3153,1132,2269
$GC,9108,0.89,157.7,27.5,9.9,371,9117,0.00,2.25,5.00,0.482,6,0.000,0.051,3150,2547,2257
$STATE,9312,end climb,SURFACE_DEPTH_REACHED
$STATE,9313,begin surface coast
$FINISH,0.2,1.023597
$STATE,9336,end surface coast,CONTROL_FINISHED_OK
$STATE,9336,begin surface
$SM_CCo,9351,126.47,0.614,0,0,1186,420.19
$SM_GC,1.21,0.00,0.00,126.47,0.000,0.000,0.614,51,2554,1186,-8.75,0.11,420.19
$IRIDIUM_FIX,2225.34,-15804.98,200300,111155
$TT8_MAMPS,0.023777
$HUMID,1660
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.9,18.690
$10V_AH,10.7,9.987
$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,22.350,93.375,266.500,126.475,0.000,82.693,119.570,433.138,0.500,0.000,0.000,32.020,864.437,6627.298,513.830,1592.431,755.048,33.356,1156.553,0.000,1570.982,0.000,0.544,0.000
$DEVICE_MAMPS,270.751,114.283,1298.531,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,279.510,620.179,640.241,147.337,611.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35263,413
$CAP_FILE_SIZE,86557,0
$CFSIZE,260165632,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,251210,141106,2235.525,-15800.320,40,0.9,41,10.0