version: 66.04
glider: 512
mission: 1
dive: 91
start: 12 25 110 19 48 48
data:
$ID,512
$MISSION,1
$DIVE,91
$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,-7170.8862
$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,47
$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
$GPS1,193800,2237.580,-15759.356,31,1.0,42,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.9
$GPS2,194755,2237.569,-15759.301,11,1.0,16,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.241,0.097
$KALMAN_X,-94618.9,1159.2,195.6,113413.7,-3573.9
$KALMAN_Y,-104424.1,950.8,742.3,208823.6,-10659.2
$MHEAD_RNG_PITCHd_Wd,58.1,13814,-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,-70.12,0.000,2,0.000,0.000,38,2557,3038
$GC,89,-0.88,-146.0,3.3,-5.9,9,115,11.65,2.38,-9.10,0.000,4,0.272,0.105,2543,3900,3499
$GC,208,-0.88,-146.0,50.5,-34.9,24,211,0.00,2.03,0.00,0.000,6,0.000,0.030,2550,2555,3500
$GC,475,-0.88,-146.0,142.9,-31.7,49,479,0.00,2.10,0.00,0.000,4,0.000,0.031,2561,1140,3501
$GC,512,-0.88,-146.0,154.0,-25.4,52,521,0.00,2.40,0.00,0.000,6,0.000,0.079,2552,2546,3502
$GC,791,-0.88,-146.0,222.9,-25.4,73,795,0.00,2.28,0.00,0.000,4,0.000,0.084,2541,3907,3503
$GC,817,-0.88,-146.0,229.6,-24.1,73,822,0.00,2.05,0.00,0.000,6,0.000,0.028,2549,2537,3503
$GC,1073,-0.88,-146.0,286.9,-22.4,80,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2530,3503
$GC,1319,-0.88,-146.0,336.5,-20.0,86,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2530,3503
$GC,1560,-0.88,-146.0,382.7,-19.1,92,1564,0.00,2.42,0.00,0.000,4,0.000,0.110,2540,3897,3502
$GC,1659,-0.88,-146.0,401.0,-17.0,94,1664,0.00,2.03,0.00,0.000,6,0.000,0.031,2548,2548,3502
$GC,1934,-0.88,-146.0,447.4,-16.5,101,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2541,3500
$GC,2175,-0.88,-146.0,487.5,-16.3,107,2179,0.00,2.40,0.00,0.000,4,0.000,0.110,2539,3897,3499
$GC,2305,-0.88,-146.0,508.8,-16.2,110,2309,0.00,2.00,0.00,0.000,6,0.000,0.033,2547,2543,3497
$GC,2593,-0.88,-146.0,557.6,-17.0,117,2597,0.00,2.42,0.00,0.000,4,0.000,0.110,2538,3900,3495
$GC,2631,-0.88,-146.0,564.2,-17.6,118,2635,0.00,2.00,0.00,0.000,6,0.000,0.033,2546,2547,3495
$GC,2919,-0.88,-146.0,610.2,-15.7,125,2923,0.00,2.42,0.00,0.000,4,0.000,0.112,2538,3900,3492
$GC,2962,-0.88,-146.0,617.4,-16.2,126,2968,0.00,2.03,0.00,0.000,6,0.000,0.034,2545,2552,3492
$GC,3246,-0.88,-146.0,658.3,-14.3,133,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2546,3489
$GC,3490,-0.88,-146.0,693.1,-14.3,139,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2546,3487
$GC,3733,-0.88,-146.0,729.1,-14.9,145,3738,0.00,2.42,0.00,0.000,4,0.000,0.117,2536,3895,3485
$GC,3817,-0.88,-146.0,741.7,-14.7,147,3821,0.00,2.03,0.00,0.000,6,0.000,0.036,2545,2540,3484
$GC,4106,-0.88,-146.0,785.1,-14.9,154,4110,0.00,2.45,0.00,0.000,4,0.000,0.114,2535,3901,3482
$GC,4165,-0.88,-146.0,794.3,-15.3,155,4171,0.00,2.05,0.00,0.000,6,0.000,0.037,2543,2553,3481
$GC,4432,-0.88,-146.0,833.0,-14.4,162,4436,0.00,2.42,0.00,0.000,4,0.000,0.116,2534,3897,3479
$GC,4516,-0.88,-146.0,845.7,-14.8,164,4520,0.00,2.03,0.00,0.000,6,0.000,0.037,2543,2546,3479
$GC,4805,-0.88,-146.0,888.3,-14.7,171,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2539,3476
$STATE,4884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4884,begin apogee
$GC,4888,-0.32,0.0,900.2,14.6,173,5012,0.70,0.00,121.47,1.291,6,0.187,0.000,2739,2538,2900
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5015,0.88,146.0,904.6,0.0,176,5158,1.17,0.00,134.32,1.237,6,0.074,0.000,3139,2537,2304
$GC,5369,0.88,146.0,821.5,31.6,185,5373,0.00,2.17,0.00,0.000,4,0.000,0.038,3150,1146,2293
$GC,5424,0.88,146.0,804.6,29.5,186,5429,0.00,2.40,0.00,0.000,6,0.000,0.068,3150,2548,2292
$GC,5702,0.88,146.0,717.3,31.3,193,5705,0.00,2.15,0.00,0.000,4,0.000,0.038,3159,1145,2289
$GC,5734,0.88,146.0,707.2,30.5,193,5739,0.00,2.38,0.00,0.000,6,0.000,0.066,3159,2558,2289
$GC,5989,0.88,146.0,627.4,30.6,200,5993,0.00,2.15,0.00,0.000,4,0.000,0.037,3168,1137,2287
$GC,6089,0.88,146.0,598.3,28.8,202,6093,0.00,2.35,0.00,0.000,6,0.000,0.066,3163,2545,2286
$GC,6367,0.88,146.0,518.2,28.8,209,6370,0.00,2.12,0.00,0.000,4,0.000,0.038,3171,1140,2285
$GC,6421,0.88,146.0,503.1,26.9,210,6426,0.10,2.35,0.00,0.000,6,0.258,0.065,3140,2556,2285
$GC,6699,0.88,146.0,433.9,24.3,217,6703,0.00,2.15,0.00,0.000,4,0.000,0.038,3149,1141,2283
$GC,6725,0.88,146.0,427.7,24.2,217,6730,0.00,2.35,0.00,0.000,6,0.000,0.067,3149,2553,2283
$GC,6987,0.88,146.0,367.9,22.8,224,6990,0.00,2.15,0.00,0.000,4,0.000,0.038,3159,1137,2282
$GC,7007,0.88,146.0,363.1,22.4,224,7012,0.00,2.33,0.00,0.000,6,0.000,0.064,3159,2547,2282
$GC,7275,0.88,146.0,298.0,24.9,231,7279,0.00,2.22,0.00,0.000,4,0.000,0.078,3159,3898,2281
$GC,7324,0.88,146.0,285.4,25.3,232,7329,0.12,2.05,0.00,0.000,6,0.274,0.038,3141,2570,2281
$GC,7607,0.88,146.0,227.3,19.4,239,7611,0.00,2.15,0.00,0.000,4,0.000,0.038,3150,1130,2280
$GC,7644,0.88,146.0,220.2,18.5,239,7651,0.00,2.33,0.00,0.000,6,0.000,0.060,3150,2553,2280
$GC,7901,0.88,146.0,173.4,18.8,255,7905,0.00,2.12,0.00,0.000,4,0.000,0.036,3159,1129,2280
$GC,8083,0.88,146.0,139.4,18.4,271,8091,0.00,2.33,0.00,0.000,6,0.000,0.063,3159,2546,2280
$GC,8345,0.88,146.0,106.5,10.6,296,8349,0.00,2.12,0.00,0.000,4,0.000,0.035,3168,1109,2280
$GC,8599,0.88,146.0,77.3,10.1,319,8603,0.00,2.30,0.00,0.000,6,0.000,0.056,3162,2552,2280
$GC,8861,0.88,146.0,51.7,10.1,343,8865,0.00,2.12,0.00,0.000,4,0.000,0.032,3171,1124,2280
$GC,9111,0.90,160.8,26.0,9.3,369,9128,0.00,2.28,9.98,0.581,6,0.000,0.053,3163,2552,2244
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,0.3,1.023374
$STATE,9315,end surface coast,CONTROL_FINISHED_OK
$STATE,9315,begin surface
$SM_CCo,9330,124.15,0.619,0,0,1186,420.19
$SM_GC,1.15,0.00,0.00,124.15,0.000,0.000,0.619,52,2558,1186,-8.75,0.23,420.19
$IRIDIUM_FIX,2230.01,-15758.91,200300,191959
$TT8_MAMPS,0.023777
$HUMID,1674
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.0,19.093
$10V_AH,10.7,10.242
$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,22.375,93.425,265.775,124.150,0.000,54.547,76.128,312.533,0.000,0.000,0.000,16.883,865.490,6596.958,511.568,1515.975,571.578,33.354,1115.496,0.000,1519.745,0.000,0.543,0.000
$DEVICE_MAMPS,273.819,116.584,1290.861,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.585,602.620,623.018,144.861,594.373,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34948,406
$CAP_FILE_SIZE,81648,0
$CFSIZE,260165632,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,251210,222737,2237.536,-15758.100,40,1.0,40,10.0