version: 66.04
glider: 512
mission: 1
dive: 96
start: 12 26 110 9 27 31
data:
$ID,512
$MISSION,1
$DIVE,96
$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,-7269.3032
$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,45
$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
$GPS1,091938,2240.103,-15756.452,11,1.4,12,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.9
$GPS2,092638,2240.069,-15756.372,11,1.6,11,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.074,0.249
$KALMAN_X,-93689.2,428.4,-209.0,118676.9,124.3
$KALMAN_Y,-113468.5,762.8,905.9,222512.4,-12327.9
$MHEAD_RNG_PITCHd_Wd,333.5,11036,-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,-70.20,0.000,2,0.000,0.000,50,2569,3015
$GC,89,-0.88,-146.0,3.6,-7.7,9,121,11.65,2.20,-9.45,0.000,4,0.272,0.043,2562,1130,3499
$GC,220,-0.88,-146.0,44.5,-25.8,27,224,0.00,2.45,0.00,0.000,6,0.000,0.092,2553,2544,3500
$GC,486,-0.88,-146.0,137.2,-32.5,52,490,0.00,2.33,0.00,0.000,4,0.000,0.094,2542,3899,3502
$GC,560,-0.88,-146.0,159.6,-26.9,58,564,0.00,2.00,0.00,0.000,6,0.000,0.029,2550,2550,3502
$GC,843,-0.88,-146.0,232.6,-25.8,76,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2544,3504
$GC,1085,-0.88,-146.0,291.1,-23.0,82,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2543,3504
$GC,1329,-0.88,-146.0,345.0,-22.0,88,1333,0.00,2.40,0.00,0.000,4,0.000,0.108,2541,3900,3505
$GC,1405,-0.88,-146.0,360.3,-17.7,89,1412,0.00,2.03,0.00,0.000,6,0.000,0.031,2549,2546,3504
$GC,1656,-0.88,-146.0,404.5,-17.3,96,1660,0.00,2.42,0.00,0.000,4,0.000,0.110,2539,3901,3503
$GC,1676,-0.88,-146.0,408.7,-19.0,96,1681,0.00,2.03,0.00,0.000,6,0.000,0.031,2547,2548,3504
$GC,1937,-0.88,-146.0,453.3,-17.1,103,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2541,3503
$GC,2181,-0.88,-146.0,495.2,-17.4,109,2185,0.00,2.42,0.00,0.000,4,0.000,0.113,2539,3902,3501
$GC,2359,-0.88,-146.0,526.3,-16.9,113,2363,0.00,2.03,0.00,0.000,6,0.000,0.034,2546,2533,3500
$GC,2642,-0.88,-146.0,573.0,-16.3,120,2646,0.00,2.45,0.00,0.000,4,0.000,0.114,2537,3898,3497
$GC,2736,-0.88,-146.0,588.6,-15.9,122,2741,0.00,2.03,0.00,0.000,6,0.000,0.034,2544,2554,3496
$GC,3014,-0.88,-146.0,633.3,-16.0,129,3018,0.00,2.42,0.00,0.000,4,0.000,0.114,2535,3901,3495
$GC,3057,-0.88,-146.0,640.8,-16.9,130,3061,0.00,2.05,0.00,0.000,6,0.000,0.035,2543,2546,3494
$GC,3340,-0.88,-146.0,686.3,-15.9,137,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2539,3492
$GC,3584,-0.88,-146.0,724.8,-15.7,143,3588,0.00,2.42,0.00,0.000,4,0.000,0.115,2534,3894,3489
$GC,3649,-0.88,-146.0,735.3,-15.0,144,3654,0.00,2.03,0.00,0.000,6,0.000,0.035,2542,2551,3488
$GC,3912,-0.88,-146.0,773.5,-14.6,151,3916,0.00,2.40,0.00,0.000,4,0.000,0.112,2534,3895,3487
$GC,3939,-0.88,-146.0,778.0,-15.8,151,3943,0.00,2.03,0.00,0.000,6,0.000,0.035,2542,2537,3487
$GC,4193,-0.88,-146.0,815.3,-14.7,158,4197,0.00,2.42,0.00,0.000,4,0.000,0.111,2533,3896,3485
$GC,4237,-0.88,-146.0,822.5,-16.0,159,4241,0.00,2.03,0.00,0.000,6,0.000,0.036,2540,2557,3484
$GC,4522,-0.88,-146.0,863.9,-14.7,166,4526,0.00,2.40,0.00,0.000,4,0.000,0.113,2532,3896,3482
$GC,4611,-0.88,-146.0,877.5,-14.7,168,4615,0.00,2.03,0.00,0.000,6,0.000,0.037,2539,2543,3482
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4774,-0.32,0.0,900.6,14.3,172,4899,0.73,0.00,122.07,1.272,6,0.188,0.000,2743,2535,2900
$STATE,4900,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4902,0.88,146.0,904.7,0.0,175,5050,1.12,2.30,133.32,1.241,4,0.075,0.037,3139,1144,2303
$GC,5083,0.88,146.0,878.0,29.9,179,5088,0.00,2.45,0.00,0.000,6,0.000,0.061,3138,2546,2298
$GC,5358,0.88,146.0,794.8,30.4,186,5361,0.00,2.17,0.00,0.000,4,0.000,0.038,3146,1140,2291
$GC,5395,0.88,146.0,782.5,29.9,186,5402,0.00,2.38,0.00,0.000,6,0.000,0.062,3146,2549,2291
$GC,5645,0.88,146.0,708.0,29.8,193,5649,0.00,2.15,0.00,0.000,4,0.000,0.038,3156,1141,2289
$GC,5728,0.88,146.0,684.8,27.0,194,5735,0.00,2.35,0.00,0.000,6,0.000,0.062,3150,2551,2289
$GC,5979,0.88,146.0,613.7,28.7,201,5982,0.00,2.15,0.00,0.000,4,0.000,0.039,3158,1143,2287
$GC,6039,0.88,146.0,596.6,26.5,202,6043,0.00,2.35,0.00,0.000,6,0.000,0.065,3159,2549,2287
$GC,6311,0.88,146.0,517.4,29.0,209,6315,0.00,2.15,0.00,0.000,4,0.000,0.038,3168,1147,2285
$GC,6321,0.88,146.0,514.4,28.6,209,6325,0.00,2.30,0.00,0.000,6,0.000,0.057,3162,2552,2286
$GC,6600,0.88,146.0,439.3,26.7,216,6603,0.00,2.17,0.00,0.000,4,0.000,0.068,3162,3898,2284
$GC,6744,0.88,146.0,400.7,26.0,219,6749,0.12,2.08,0.00,0.000,6,0.277,0.037,3144,2562,2283
$GC,7022,0.88,146.0,334.5,22.9,226,7026,0.00,2.15,0.00,0.000,4,0.000,0.038,3154,1127,2282
$GC,7082,0.88,146.0,321.3,20.1,227,7087,0.00,2.33,0.00,0.000,6,0.000,0.056,3150,2557,2282
$GC,7356,0.88,146.0,260.6,23.0,234,7360,0.00,2.15,0.00,0.000,4,0.000,0.035,3159,1124,2281
$GC,7500,0.88,146.0,232.1,18.6,237,7505,0.00,2.33,0.00,0.000,6,0.000,0.058,3159,2552,2281
$GC,7763,0.88,146.0,182.3,19.0,248,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2552,2280
$GC,8017,0.88,146.0,134.6,16.9,272,8020,0.00,2.15,0.00,0.000,4,0.000,0.034,3168,1121,2280
$GC,8120,0.88,146.0,118.7,12.4,281,8128,0.08,2.30,0.00,0.000,6,0.239,0.056,3144,2545,2280
$GC,8383,0.93,186.3,91.3,8.1,306,8421,0.00,2.17,29.75,0.688,4,0.000,0.033,3154,1134,2139
$GC,8665,0.93,186.3,44.7,16.4,331,8674,0.00,2.30,0.00,0.000,6,0.000,0.054,3150,2548,2135
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,0.3,1.023466
$STATE,8917,end surface coast,CONTROL_FINISHED_OK
$STATE,8917,begin surface
$SM_CCo,8932,109.95,0.635,0,0,1186,420.19
$SM_GC,1.06,0.00,0.00,109.95,0.000,0.000,0.635,46,2554,1186,-8.76,0.11,420.19
$IRIDIUM_FIX,2232.34,-15755.87,210300,060604
$TT8_MAMPS,0.023777
$HUMID,1702
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.9,19.813
$10V_AH,10.7,10.627
$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,22.325,93.875,285.150,109.950,0.000,29.320,44.035,269.723,0.000,0.000,0.000,11.736,810.523,6278.847,483.591,1455.897,446.173,33.357,1120.423,0.000,1450.192,0.000,0.543,0.000
$DEVICE_MAMPS,276.887,115.050,1271.686,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,250.648,528.398,544.933,117.467,486.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28884,370
$CAP_FILE_SIZE,77674,0
$CFSIZE,260165632,254971904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,261210,115930,2241.244,-15756.552,42,1.1,43,10.0