version: 66.04
glider: 512
mission: 1
dive: 95
start: 12 26 110 6 50 1
data:
$ID,512
$MISSION,1
$DIVE,95
$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,-7256.938
$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,34
$R_STBD_OVSHOOT,16
$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
$GPS1,064304,2239.099,-15756.215,15,3.4,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-79.0
$GPS2,064908,2239.060,-15756.165,14,1.3,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.063,0.252
$KALMAN_X,-94124.8,15.4,-317.6,120001.7,-676.6
$KALMAN_Y,-112175.1,1041.5,688.9,219296.4,-12671.6
$MHEAD_RNG_PITCHd_Wd,336.0,12804,-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,-70.12,0.000,2,0.000,0.000,45,2555,3018
$GC,89,-0.88,-146.0,3.3,-5.8,9,121,11.60,2.22,-9.55,0.000,4,0.271,0.047,2563,1112,3499
$GC,263,-0.88,-146.0,54.8,-26.7,31,268,0.00,2.55,0.00,0.000,6,0.000,0.104,2553,2545,3501
$GC,526,-0.88,-146.0,145.3,-31.4,55,530,0.00,2.35,0.00,0.000,4,0.000,0.095,2543,3917,3502
$GC,591,-0.88,-146.0,164.3,-26.9,60,601,0.00,2.08,0.00,0.000,6,0.000,0.028,2551,2533,3503
$GC,857,-0.88,-146.0,230.9,-24.0,77,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2526,3503
$GC,1100,-0.88,-146.0,287.6,-22.9,83,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2526,3505
$GC,1346,-0.88,-146.0,338.0,-20.9,89,1350,0.00,2.45,0.00,0.000,4,0.000,0.110,2542,3899,3505
$GC,1455,-0.88,-146.0,360.7,-18.8,91,1460,0.00,2.03,0.00,0.000,6,0.000,0.031,2549,2545,3504
$GC,1716,-0.88,-146.0,408.5,-18.2,98,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2539,3504
$GC,1960,-0.88,-146.0,451.5,-17.6,104,1964,0.00,2.45,0.00,0.000,4,0.000,0.114,2541,3913,3503
$GC,1986,-0.88,-146.0,456.5,-18.5,104,1991,0.00,2.05,0.00,0.000,6,0.000,0.032,2548,2547,3503
$GC,2243,-0.88,-146.0,498.2,-16.3,111,2248,0.00,2.45,0.00,0.000,4,0.000,0.114,2539,3910,3502
$GC,2292,-0.88,-146.0,507.4,-16.5,112,2297,0.00,2.08,0.00,0.000,6,0.000,0.034,2546,2546,3501
$GC,2570,-0.88,-146.0,553.4,-16.4,119,2575,0.00,2.45,0.00,0.000,4,0.000,0.116,2537,3899,3499
$GC,2703,-0.88,-146.0,576.1,-16.0,122,2708,0.00,2.03,0.00,0.000,6,0.000,0.035,2545,2555,3498
$GC,2987,-0.88,-146.0,621.6,-16.0,129,2991,0.00,2.42,0.00,0.000,4,0.000,0.118,2536,3899,3496
$GC,3030,-0.88,-146.0,629.0,-16.6,130,3034,0.00,2.03,0.00,0.000,6,0.000,0.035,2544,2556,3496
$GC,3313,-0.88,-146.0,673.0,-15.7,137,3317,0.00,2.42,0.00,0.000,4,0.000,0.115,2535,3901,3493
$GC,3418,-0.88,-146.0,690.7,-16.1,139,3423,0.00,2.05,0.00,0.000,6,0.000,0.035,2543,2550,3492
$GC,3686,-0.88,-146.0,734.7,-16.6,146,3690,0.00,2.45,0.00,0.000,4,0.000,0.116,2534,3914,3490
$GC,3770,-0.88,-146.0,749.4,-16.7,148,3773,0.00,2.05,0.00,0.000,6,0.000,0.035,2542,2537,3489
$GC,4058,-0.88,-146.0,795.4,-16.0,155,4062,0.00,2.45,0.00,0.000,4,0.000,0.117,2534,3900,3488
$GC,4112,-0.88,-146.0,804.7,-16.5,156,4116,0.00,2.05,0.00,0.000,6,0.000,0.037,2541,2548,3487
$GC,4384,-0.88,-146.0,846.9,-15.4,163,4388,0.00,2.42,0.00,0.000,4,0.000,0.116,2533,3901,3485
$GC,4433,-0.88,-146.0,855.1,-15.9,164,4438,0.00,2.05,0.00,0.000,6,0.000,0.037,2540,2547,3485
$GC,4712,-0.88,-146.0,896.3,-14.7,171,4716,0.00,2.45,0.00,0.000,4,0.000,0.117,2532,3900,3482
$STATE,4737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4737,begin apogee
$GC,4743,-0.32,0.0,900.8,16.3,171,4869,0.70,0.00,122.28,1.286,6,0.189,0.000,2740,2541,2900
$STATE,4869,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4871,0.88,146.0,904.6,0.0,174,5007,1.15,0.00,131.52,1.237,6,0.079,0.000,3130,2540,2304
$GC,5236,0.88,146.0,820.9,30.5,183,5239,0.00,2.17,0.00,0.000,4,0.000,0.038,3140,1152,2293
$GC,5284,0.88,146.0,806.4,28.1,184,5289,0.00,2.40,0.00,0.000,6,0.000,0.067,3137,2561,2292
$GC,5571,0.88,146.0,721.6,30.3,191,5574,0.00,2.17,0.00,0.000,4,0.000,0.037,3147,1140,2289
$GC,5636,0.88,146.0,702.2,26.8,192,5641,0.00,2.38,0.00,0.000,6,0.000,0.067,3147,2547,2289
$GC,5903,0.88,146.0,622.0,30.5,199,5907,0.00,2.12,0.00,0.000,4,0.000,0.038,3157,1146,2287
$GC,5947,0.88,146.0,608.9,29.3,200,5951,0.00,2.30,0.00,0.000,6,0.000,0.063,3150,2552,2287
$GC,6237,0.88,146.0,527.2,28.1,207,6241,0.00,2.12,0.00,0.000,4,0.000,0.038,3159,1148,2285
$GC,6257,0.88,146.0,521.3,25.7,207,6262,0.00,2.33,0.00,0.000,6,0.000,0.064,3159,2549,2285
$GC,6524,0.88,146.0,449.4,27.1,214,6527,0.00,2.22,0.00,0.000,4,0.000,0.077,3159,3900,2284
$GC,6568,0.88,146.0,437.4,26.4,215,6573,0.15,2.05,0.00,0.000,6,0.273,0.039,3141,2545,2283
$GC,6857,0.88,146.0,367.8,24.2,222,6860,0.00,2.12,0.00,0.000,4,0.000,0.038,3150,1137,2282
$GC,6991,0.88,146.0,339.2,21.1,225,6995,0.00,2.33,0.00,0.000,6,0.000,0.069,3150,2551,2282
$GC,7273,0.88,146.0,275.8,23.0,232,7277,0.00,2.15,0.00,0.000,4,0.000,0.038,3159,1133,2281
$GC,7401,0.88,146.0,249.9,19.0,234,7408,0.00,2.35,0.00,0.000,6,0.000,0.068,3159,2546,2281
$GC,7651,0.88,146.0,200.5,20.2,241,7655,0.00,2.10,0.00,0.000,4,0.000,0.036,3168,1146,2280
$GC,7661,0.88,146.0,198.2,20.6,241,7666,0.00,2.30,0.00,0.000,6,0.000,0.061,3162,2548,2280
$GC,7930,0.88,146.0,147.2,17.1,264,7934,0.00,2.10,0.00,0.000,4,0.000,0.035,3171,1139,2280
$GC,8011,0.88,146.0,134.4,11.7,271,8020,0.00,2.30,0.00,0.000,6,0.000,0.063,3162,2545,2280
$GC,8274,0.95,200.7,111.6,7.5,296,8324,0.00,2.17,41.58,0.690,4,0.000,0.034,3171,1134,2078
$GC,8449,0.95,200.7,79.4,24.1,311,8453,0.00,2.33,0.00,0.000,6,0.000,0.064,3163,2548,2075
$GC,8711,0.95,200.7,21.2,22.1,338,8719,0.00,2.15,0.00,0.000,4,0.000,0.034,3172,1146,2074
$STATE,8799,end climb,SURFACE_DEPTH_REACHED
$STATE,8799,begin surface coast
$FINISH,0.1,1.023544
$STATE,8811,end surface coast,CONTROL_FINISHED_OK
$STATE,8811,begin surface
$SM_CCo,8829,102.72,0.594,0,0,1186,420.19
$SM_GC,1.11,0.00,0.00,102.72,0.000,0.000,0.594,54,2569,1186,-8.74,0.54,420.19
$IRIDIUM_FIX,2230.01,-15758.91,210300,040423
$TT8_MAMPS,0.023777
$HUMID,1725
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.9,19.677
$10V_AH,10.7,10.548
$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,22.325,103.150,295.375,102.725,0.000,28.127,37.744,219.591,0.000,0.000,0.000,14.856,788.698,6242.589,494.266,1393.869,389.241,33.353,1115.303,0.000,1390.500,0.000,0.541,0.000
$DEVICE_MAMPS,273.052,118.118,1286.259,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,240.934,499.201,515.632,108.864,448.363,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28829,356
$CAP_FILE_SIZE,77728,0
$CFSIZE,260165632,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,261210,091938,2240.103,-15756.452,11,1.4,12,10.0