version: 66.04
glider: 512
mission: 1
dive: 89
start: 12 25 110 14 18 12
data:
$ID,512
$MISSION,1
$DIVE,89
$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,-7138.7002
$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,23
$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
$GPS1,141106,2235.525,-15800.320,40,0.9,41,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.2
$GPS2,141719,2235.515,-15800.300,10,1.4,15,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.072,0.250
$KALMAN_X,-96567.3,1272.8,804.4,112914.0,-7158.2
$KALMAN_Y,-100674.8,949.1,348.7,201668.7,-9188.0
$MHEAD_RNG_PITCHd_Wd,6.0,17574,-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,-70.18,0.000,2,0.000,0.000,43,2553,3021
$GC,89,-0.88,-146.0,3.5,-6.9,9,121,11.55,2.35,-9.50,0.000,4,0.269,0.102,2547,3889,3499
$GC,363,-0.88,-146.0,93.0,-28.2,39,372,0.00,2.00,0.00,0.000,6,0.000,0.028,2554,2564,3501
$GC,627,-0.88,-146.0,164.5,-22.8,64,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2558,3503
$GC,896,-0.88,-146.0,229.7,-24.2,81,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2558,3503
$GC,1139,-0.88,-146.0,285.6,-23.0,87,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2558,3504
$GC,1382,-0.88,-146.0,336.9,-20.6,93,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2558,3504
$GC,1626,-0.88,-146.0,382.5,-18.6,99,1630,0.00,2.35,0.00,0.000,4,0.000,0.107,2545,3886,3504
$GC,1720,-0.88,-146.0,399.7,-18.2,101,1725,0.00,2.00,0.00,0.000,6,0.000,0.031,2553,2544,3503
$GC,1998,-0.88,-146.0,448.6,-17.4,108,2002,0.00,2.40,0.00,0.000,4,0.000,0.111,2544,3888,3502
$GC,2108,-0.88,-146.0,467.9,-16.5,110,2113,0.00,2.00,0.00,0.000,6,0.000,0.032,2551,2553,3500
$GC,2371,-0.88,-146.0,512.1,-17.1,117,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2546,3499
$GC,2613,-0.88,-146.0,555.2,-17.8,123,2617,0.00,2.40,0.00,0.000,4,0.000,0.113,2543,3895,3497
$GC,2645,-0.88,-146.0,561.4,-18.6,123,2652,0.00,2.03,0.00,0.000,6,0.000,0.034,2550,2548,3497
$GC,2895,-0.88,-146.0,606.1,-18.1,130,2899,0.00,2.38,0.00,0.000,4,0.000,0.107,2541,3892,3495
$GC,2928,-0.88,-146.0,612.3,-18.9,130,2935,0.00,2.03,0.00,0.000,6,0.000,0.034,2547,2550,3495
$GC,3177,-0.88,-146.0,654.6,-17.0,137,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2544,3492
$GC,3420,-0.88,-146.0,693.3,-15.7,143,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2543,3489
$GC,3666,-0.88,-146.0,728.7,-14.4,149,3670,0.00,2.38,0.00,0.000,4,0.000,0.108,2539,3889,3487
$GC,3759,-0.88,-146.0,743.3,-14.0,151,3764,0.00,2.03,0.00,0.000,6,0.000,0.035,2546,2552,3486
$GC,4037,-0.88,-146.0,783.2,-14.2,158,4041,0.00,2.38,0.00,0.000,4,0.000,0.110,2538,3887,3484
$GC,4064,-0.88,-146.0,787.2,-15.2,158,4069,0.00,2.03,0.00,0.000,6,0.000,0.035,2545,2548,3484
$GC,4319,-0.88,-146.0,823.4,-14.1,165,4323,0.00,2.40,0.00,0.000,4,0.000,0.111,2536,3895,3482
$GC,4374,-0.88,-146.0,831.9,-15.6,166,4379,0.00,2.05,0.00,0.000,6,0.000,0.037,2544,2547,3482
$GC,4646,-0.88,-146.0,871.2,-14.6,173,4650,0.00,2.40,0.00,0.000,4,0.000,0.111,2536,3887,3479
$GC,4689,-0.88,-146.0,878.2,-15.3,174,4694,0.00,2.03,0.00,0.000,6,0.000,0.036,2543,2555,3479
$STATE,4850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4850,begin apogee
$GC,4853,-0.32,0.0,901.5,14.4,178,4978,0.70,0.00,121.80,1.271,6,0.188,0.000,2739,2547,2900
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4981,0.88,146.0,905.8,0.0,181,5118,1.12,2.28,130.15,1.220,4,0.074,0.036,3137,1147,2303
$GC,5141,0.88,146.0,882.8,29.8,185,5145,0.00,2.40,0.00,0.000,6,0.000,0.062,3137,2546,2299
$GC,5429,0.88,146.0,790.9,32.1,192,5433,0.00,2.17,0.00,0.000,4,0.000,0.038,3146,1149,2291
$GC,5512,0.88,146.0,766.1,27.7,193,5519,0.00,2.35,0.00,0.000,6,0.000,0.061,3146,2551,2291
$GC,5762,0.88,146.0,690.3,30.7,200,5766,0.00,2.15,0.00,0.000,4,0.000,0.038,3155,1140,2289
$GC,5777,0.88,146.0,685.6,30.2,200,5782,0.00,2.35,0.00,0.000,6,0.000,0.062,3150,2552,2289
$GC,6049,0.88,146.0,609.6,27.1,207,6053,0.00,2.15,0.00,0.000,4,0.000,0.038,3159,1147,2287
$GC,6115,0.88,146.0,592.4,24.6,208,6120,0.00,2.33,0.00,0.000,6,0.000,0.061,3159,2555,2287
$GC,6382,0.88,146.0,524.9,25.1,215,6386,0.00,2.12,0.00,0.000,4,0.000,0.037,3168,1138,2285
$GC,6442,0.88,146.0,510.1,23.4,216,6447,0.00,2.33,0.00,0.000,6,0.000,0.063,3162,2545,2285
$GC,6714,0.88,146.0,442.7,24.6,223,6718,0.00,2.12,0.00,0.000,4,0.000,0.038,3171,1147,2283
$GC,6729,0.88,146.0,438.7,24.7,223,6735,0.10,2.30,0.00,0.000,6,0.262,0.059,3139,2551,2283
$GC,7002,0.88,146.0,371.7,24.8,230,7006,0.00,2.15,0.00,0.000,4,0.000,0.038,3149,1135,2282
$GC,7011,0.88,146.0,369.3,23.9,230,7016,0.00,2.30,0.00,0.000,6,0.000,0.058,3149,2558,2283
$GC,7289,0.88,146.0,302.6,23.6,237,7293,0.00,2.12,0.00,0.000,4,0.000,0.036,3159,1140,2281
$GC,7299,0.88,146.0,300.4,21.9,237,7304,0.00,2.28,0.00,0.000,6,0.000,0.057,3159,2552,2281
$GC,7577,0.88,146.0,244.1,20.0,244,7581,0.00,2.12,0.00,0.000,4,0.000,0.036,3168,1144,2281
$GC,7592,0.88,146.0,241.1,19.8,244,7597,0.00,2.28,0.00,0.000,6,0.000,0.058,3162,2547,2281
$GC,7848,0.88,146.0,191.1,19.5,252,7851,0.00,2.12,0.00,0.000,4,0.000,0.035,3171,1140,2281
$GC,8038,0.88,146.0,154.3,17.6,269,8042,0.00,2.25,0.00,0.000,6,0.000,0.058,3163,2550,2281
$GC,8300,0.88,146.0,112.1,13.5,293,8304,0.00,2.12,0.00,0.000,4,0.000,0.035,3172,1127,2281
$GC,8334,0.88,146.0,108.5,10.5,296,8338,0.00,2.28,0.00,0.000,6,0.000,0.054,3163,2564,2280
$GC,8594,0.88,146.0,85.2,11.4,320,8599,0.12,2.10,0.00,0.000,4,0.254,0.059,3137,3896,2281
$GC,8647,0.88,146.0,78.7,11.9,324,8656,0.00,2.03,0.00,0.000,6,0.000,0.032,3146,2538,2281
$GC,8910,0.90,161.5,52.0,9.3,349,8925,0.00,2.12,10.30,0.591,4,0.000,0.031,3157,1143,2241
$GC,9137,0.90,161.5,25.9,11.8,372,9146,0.00,2.28,0.00,0.000,6,0.000,0.057,3150,2554,2241
$STATE,9310,end climb,SURFACE_DEPTH_REACHED
$STATE,9310,begin surface coast
$FINISH,0.3,1.023484
$STATE,9333,end surface coast,CONTROL_FINISHED_OK
$STATE,9333,begin surface
$SM_CCo,9348,125.28,0.588,0,0,1186,420.19
$SM_GC,1.26,0.00,0.00,125.28,0.000,0.000,0.588,50,2561,1186,-8.75,0.31,420.19
$IRIDIUM_FIX,2227.67,-15801.95,200300,111117
$TT8_MAMPS,0.023777
$HUMID,1669
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.0,18.818
$10V_AH,10.7,10.073
$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,22.150,97.200,262.250,125.275,0.000,29.494,38.111,221.968,0.250,0.000,0.000,15.276,855.787,6610.670,484.939,1506.216,399.783,33.346,1111.554,0.000,1502.274,0.000,0.543,0.000
$DEVICE_MAMPS,269.217,112.749,1270.919,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,276.525,607.138,622.425,143.498,594.322,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31967,408
$CAP_FILE_SIZE,79344,0
$CFSIZE,260165632,255254528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,251210,165706,2236.510,-15759.756,11,1.7,28,10.0