version: 66.04
glider: 512
mission: 1
dive: 93
start: 12 26 110 1 30 28
data:
$ID,512
$MISSION,1
$DIVE,93
$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,-7226.4409
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,011846,2238.579,-15757.613,12,2.4,31,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-79.4
$GPS2,012936,2238.500,-15757.596,38,1.1,38,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.022,0.259
$KALMAN_X,-94483.8,-52.4,435.1,117185.0,-2218.8
$KALMAN_Y,-107033.1,1140.9,446.1,213264.5,-9788.5
$MHEAD_RNG_PITCHd_Wd,345.0,12719,-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,-69.80,0.000,2,0.000,0.000,46,2566,3027
$GC,89,-0.88,-146.0,3.6,-7.8,9,114,11.60,2.22,-9.18,0.000,4,0.272,0.043,2565,1117,3498
$GC,273,-0.88,-146.0,61.4,-27.9,31,277,0.00,2.45,0.00,0.000,6,0.000,0.082,2555,2556,3500
$GC,535,-0.88,-146.0,138.5,-24.3,55,539,0.00,2.25,0.00,0.000,4,0.000,0.084,2545,3900,3501
$GC,632,-0.88,-146.0,166.3,-23.9,63,642,0.00,2.05,0.00,0.000,6,0.000,0.029,2553,2536,3502
$GC,898,-0.88,-146.0,230.5,-24.2,80,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2530,3503
$GC,1143,-0.88,-146.0,286.8,-22.8,86,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2530,3503
$GC,1386,-0.88,-146.0,339.6,-22.1,92,1390,0.00,2.40,0.00,0.000,4,0.000,0.107,2544,3896,3503
$GC,1541,-0.88,-146.0,372.8,-19.1,95,1546,0.00,2.03,0.00,0.000,6,0.000,0.031,2552,2541,3502
$GC,1802,-0.88,-146.0,421.8,-18.7,102,1807,0.00,2.40,0.00,0.000,4,0.000,0.108,2543,3896,3502
$GC,1851,-0.88,-146.0,431.1,-17.8,103,1856,0.00,2.00,0.00,0.000,6,0.000,0.031,2550,2561,3501
$GC,2129,-0.88,-146.0,477.8,-16.6,110,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2555,3499
$GC,2374,-0.88,-146.0,518.1,-16.5,116,2378,0.00,2.38,0.00,0.000,4,0.000,0.111,2541,3895,3498
$GC,2422,-0.88,-146.0,526.6,-16.5,117,2427,0.00,2.03,0.00,0.000,6,0.000,0.033,2549,2550,3497
$GC,2700,-0.88,-146.0,570.9,-15.9,124,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2543,3495
$GC,2944,-0.88,-146.0,609.0,-15.5,130,2948,0.00,2.40,0.00,0.000,4,0.000,0.112,2540,3895,3493
$GC,3038,-0.88,-146.0,624.6,-15.8,132,3042,0.00,2.03,0.00,0.000,6,0.000,0.035,2547,2551,3492
$GC,3315,-0.88,-146.0,667.6,-15.7,139,3320,0.00,2.40,0.00,0.000,4,0.000,0.109,2538,3901,3489
$GC,3392,-0.88,-146.0,680.0,-15.6,140,3400,0.00,2.05,0.00,0.000,6,0.000,0.035,2545,2542,3488
$GC,3642,-0.88,-146.0,718.3,-15.3,147,3646,0.00,2.40,0.00,0.000,4,0.000,0.106,2537,3900,3487
$GC,3702,-0.88,-146.0,728.1,-15.8,148,3707,0.00,2.05,0.00,0.000,6,0.000,0.035,2545,2547,3486
$GC,3969,-0.88,-146.0,768.2,-15.0,155,3973,0.00,2.40,0.00,0.000,4,0.000,0.109,2536,3895,3485
$GC,4019,-0.88,-146.0,776.5,-15.6,156,4023,0.00,2.03,0.00,0.000,6,0.000,0.036,2544,2539,3484
$GC,4296,-0.88,-146.0,817.8,-14.8,163,4300,0.00,2.40,0.00,0.000,4,0.000,0.108,2535,3896,3482
$GC,4339,-0.88,-146.0,824.6,-15.6,164,4344,0.00,2.05,0.00,0.000,6,0.000,0.037,2543,2547,3481
$GC,4624,-0.88,-146.0,865.3,-14.5,171,4628,0.00,2.42,0.00,0.000,4,0.000,0.113,2534,3900,3478
$GC,4672,-0.88,-146.0,873.2,-15.6,172,4677,0.00,2.05,0.00,0.000,6,0.000,0.036,2542,2549,3478
$STATE,4868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4868,begin apogee
$GC,4872,-0.32,0.0,901.9,14.7,177,4996,0.70,0.00,121.55,1.281,6,0.187,0.000,2738,2541,2900
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,4998,0.88,146.0,906.0,0.0,180,5142,1.17,0.00,134.40,1.238,6,0.079,0.000,3131,2541,2304
$GC,5353,0.88,146.0,823.9,31.7,189,5357,0.00,2.17,0.00,0.000,4,0.000,0.038,3142,1147,2293
$GC,5419,0.88,146.0,803.6,29.6,190,5423,0.00,2.38,0.00,0.000,6,0.000,0.062,3137,2553,2291
$GC,5687,0.88,146.0,719.8,31.8,197,5691,0.00,2.15,0.00,0.000,4,0.000,0.038,3147,1145,2289
$GC,5753,0.88,146.0,699.1,28.8,198,5757,0.00,2.35,0.00,0.000,6,0.000,0.063,3147,2552,2288
$GC,6019,0.88,146.0,617.3,30.5,205,6023,0.00,2.15,0.00,0.000,4,0.000,0.038,3157,1141,2287
$GC,6046,0.88,146.0,608.9,31.8,205,6051,0.00,2.35,0.00,0.000,6,0.000,0.064,3150,2554,2287
$GC,6307,0.88,146.0,535.9,28.4,212,6311,0.00,2.17,0.00,0.000,4,0.000,0.038,3159,1137,2285
$GC,6339,0.88,146.0,527.3,25.8,212,6344,0.00,2.35,0.00,0.000,6,0.000,0.063,3160,2555,2285
$GC,6595,0.88,146.0,460.2,26.0,219,6598,0.00,2.15,0.00,0.000,4,0.000,0.038,3168,1139,2284
$GC,6688,0.88,146.0,436.9,22.7,221,6694,0.10,2.35,0.00,0.000,6,0.257,0.067,3139,2548,2283
$GC,6974,0.88,146.0,371.7,23.4,228,6977,0.00,2.12,0.00,0.000,4,0.000,0.038,3149,1142,2283
$GC,7028,0.88,146.0,360.0,21.0,229,7032,0.00,2.33,0.00,0.000,6,0.000,0.063,3149,2549,2282
$GC,7307,0.88,146.0,300.3,22.1,236,7310,0.00,2.22,0.00,0.000,4,0.000,0.073,3149,3909,2282
$GC,7372,0.88,146.0,285.9,20.2,237,7377,0.00,2.08,0.00,0.000,6,0.000,0.038,3158,2558,2280
$GC,7639,0.88,146.0,233.9,19.1,244,7643,0.00,2.12,0.00,0.000,4,0.000,0.036,3169,1134,2280
$GC,7716,0.88,146.0,218.6,19.2,245,7721,0.10,2.30,0.00,0.000,6,0.243,0.060,3138,2546,2280
$GC,7980,0.88,146.0,169.5,17.6,261,7983,0.00,2.15,0.00,0.000,4,0.000,0.037,3149,1124,2280
$GC,8039,0.88,146.0,160.1,13.5,266,8048,0.00,2.33,0.00,0.000,6,0.000,0.058,3149,2554,2280
$GC,8303,0.88,146.0,119.8,16.1,291,8307,0.00,2.15,0.00,0.000,4,0.000,0.035,3159,1126,2280
$GC,8407,0.95,199.8,109.9,7.5,300,8453,0.00,2.30,40.70,0.703,6,0.000,0.055,3159,2550,2084
$GC,8707,0.95,199.8,45.7,23.9,328,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2550,2078
$STATE,8901,end climb,SURFACE_DEPTH_REACHED
$STATE,8901,begin surface coast
$FINISH,0.9,1.023401
$STATE,8914,end surface coast,CONTROL_FINISHED_OK
$STATE,8914,begin surface
$SM_CCo,8929,105.38,0.633,0,0,1186,420.19
$SM_GC,1.01,0.00,0.00,105.38,0.000,0.000,0.633,50,2557,1186,-8.75,0.20,420.19
$IRIDIUM_FIX,2232.34,-15758.91,210300,010145
$TT8_MAMPS,0.024544
$HUMID,1737
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,24.0,19.401
$10V_AH,10.7,10.400
$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,22.350,93.550,296.650,105.375,0.000,60.996,67.236,351.854,0.250,0.000,0.000,38.303,786.313,6444.004,517.646,1363.745,584.185,33.364,1091.989,0.000,1335.641,0.000,0.542,0.000
$DEVICE_MAMPS,271.518,112.749,1280.890,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,244.083,499.207,513.981,107.203,444.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28994,360
$CAP_FILE_SIZE,79280,0
$CFSIZE,260165632,255090688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,261210,040206,2239.272,-15757.388,29,1.7,30,10.0