version: 66.04
glider: 512
mission: 1
dive: 29
start: 12 16 110 2 18 1
data:
$ID,512
$MISSION,1
$DIVE,29
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$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,266
$T_MISSION,460
$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,470
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3663.1428
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2737
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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
$GPS1,021026,2149.403,-15809.017,11,2.0,12,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.2
$GPS2,021710,2149.436,-15808.974,14,2.2,33,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.023,0.259
$KALMAN_X,10004.4,-3534.6,99.3,-3041.8,5115.0
$KALMAN_Y,-27096.3,6256.4,-140.0,37949.5,-15777.6
$MHEAD_RNG_PITCHd_Wd,355.1,104041,-17.5,-10.025
$D_GRID,800
$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,13,-0.88,-146.0,0.0,0.0,0,79,0.00,0.00,-63.28,0.000,2,0.000,0.000,44,2430,3126
$GC,81,-0.88,-146.0,3.9,-8.4,8,114,11.57,2.30,-14.18,0.000,4,0.285,0.087,2432,3801,3944
$GC,345,-0.88,-146.0,132.7,-45.7,35,348,0.00,2.12,0.00,0.000,6,0.000,0.033,2440,2395,3946
$GC,625,-0.88,-146.0,256.1,-43.1,53,629,0.00,2.33,0.00,0.000,4,0.000,0.074,2431,3801,3947
$GC,646,-0.88,-146.0,264.7,-40.0,53,651,0.00,2.12,0.00,0.000,6,0.000,0.030,2439,2391,3947
$GC,913,-0.88,-146.0,357.6,-33.9,60,917,0.00,2.30,0.00,0.000,4,0.000,0.071,2430,3794,3947
$GC,1047,-0.88,-146.0,401.3,-30.5,63,1051,0.00,2.08,0.00,0.000,6,0.000,0.030,2438,2395,3948
$GC,1335,-0.88,-146.0,490.8,-30.4,70,1339,0.00,2.30,0.00,0.000,4,0.000,0.072,2428,3798,3946
$GC,1469,-0.88,-146.0,530.0,-30.0,73,1473,0.00,2.10,0.00,0.000,6,0.000,0.031,2437,2395,3946
$GC,1758,-0.88,-146.0,612.9,-28.6,80,1761,0.00,2.30,0.00,0.000,4,0.000,0.072,2427,3801,3944
$GC,1829,-0.88,-146.0,632.8,-26.0,81,1834,0.00,2.10,0.00,0.000,6,0.000,0.032,2427,2401,3943
$GC,2090,-0.88,-146.0,705.9,-27.9,88,2094,0.00,2.30,0.00,0.000,4,0.000,0.075,2416,3798,3940
$GC,2291,-0.88,-146.0,760.8,-27.4,92,2297,0.10,2.10,0.00,0.000,6,0.210,0.034,2447,2397,3938
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2478,-0.32,0.0,807.8,25.4,97,2603,0.65,0.00,121.40,1.171,6,0.199,0.000,2626,2300,3347
$STATE,2603,end apogee,CONTROL_FINISHED_OK
$STATE,2603,begin climb
$GC,2605,0.88,146.0,819.7,0.0,100,2739,1.30,2.40,127.05,1.167,4,0.147,0.057,3000,3694,2750
$GC,2993,0.88,147.4,812.5,10.0,109,2997,0.00,2.15,0.00,0.000,6,0.000,0.035,3009,2298,2743
$GC,3283,0.94,195.4,789.7,7.8,116,3332,0.00,2.38,41.92,1.156,4,0.000,0.060,3010,3693,2550
$GC,3511,0.94,195.4,755.1,16.8,121,3516,0.00,2.17,0.00,0.000,6,0.000,0.035,3020,2304,2543
$GC,3790,0.94,195.4,711.3,15.5,128,3793,0.00,2.28,0.00,0.000,4,0.000,0.061,3021,3698,2539
$GC,3827,0.94,195.4,705.0,16.5,128,3835,0.00,2.17,0.00,0.000,6,0.000,0.036,3031,2289,2539
$GC,4077,0.94,195.4,665.1,15.9,135,4081,0.00,2.28,0.00,0.000,4,0.000,0.060,3027,3694,2538
$GC,4177,0.94,195.4,648.0,17.0,137,4181,0.00,2.12,0.00,0.000,6,0.000,0.036,3035,2304,2538
$GC,4455,0.94,195.4,606.6,14.5,144,4458,0.00,2.25,0.00,0.000,4,0.000,0.061,3037,3694,2536
$GC,4600,0.94,195.4,584.1,16.2,147,4604,0.00,2.10,0.00,0.000,6,0.000,0.036,3047,2303,2535
$GC,4876,0.94,195.4,544.8,13.6,154,4880,0.00,2.12,0.00,0.000,4,0.000,0.039,3058,884,2534
$GC,5060,0.94,195.4,521.6,11.5,158,5065,0.00,2.22,0.00,0.000,6,0.000,0.052,3054,2282,2533
$GC,5344,0.94,195.4,488.3,11.9,165,5347,0.00,2.28,0.00,0.000,4,0.000,0.062,3054,3717,2532
$GC,5493,0.94,195.4,468.2,12.5,168,5499,0.00,2.17,0.00,0.000,6,0.000,0.037,3063,2289,2531
$GC,5766,0.94,195.4,436.5,11.3,175,5770,0.00,2.10,0.00,0.000,4,0.000,0.038,3074,886,2530
$GC,5972,0.96,210.6,414.6,9.3,179,5990,0.00,2.25,10.88,0.916,6,0.000,0.051,3067,2313,2488
$GC,6233,0.96,210.6,383.0,12.2,186,6237,0.00,2.22,0.00,0.000,4,0.000,0.058,3068,3718,2486
$GC,6484,0.96,210.6,350.6,12.5,191,6490,0.10,2.17,0.00,0.000,6,0.256,0.036,3054,2305,2485
$GC,6746,0.98,227.2,324.6,9.3,198,6763,0.00,0.00,15.62,0.890,6,0.000,0.000,3053,2300,2420
$GC,6989,0.98,227.2,300.4,10.3,204,6993,0.00,2.25,0.00,0.000,4,0.000,0.058,3053,3710,2416
$GC,7156,0.98,227.2,280.4,11.7,207,7161,0.00,2.17,0.00,0.000,6,0.000,0.035,3063,2294,2415
$GC,7412,1.03,270.2,257.0,8.0,214,7454,0.00,2.22,36.78,0.856,4,0.000,0.038,3074,889,2244
$GC,7501,1.03,270.2,247.4,14.3,216,7505,0.00,2.25,0.00,0.000,6,0.000,0.049,3071,2301,2241
$GC,7782,1.03,270.2,200.9,17.0,223,7786,0.00,2.17,0.00,0.000,4,0.000,0.037,3080,882,2237
$GC,7851,1.03,270.2,189.3,17.2,226,7855,0.00,2.25,0.00,0.000,6,0.000,0.051,3080,2308,2237
$GC,8112,1.03,270.2,146.1,17.0,250,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2308,2236
$GC,8367,1.03,270.2,114.4,10.1,274,8370,0.00,2.22,0.00,0.000,4,0.000,0.055,3080,3714,2236
$GC,8468,1.08,305.1,105.0,8.4,283,8505,0.00,2.12,28.65,0.701,6,0.000,0.031,3090,2291,2104
$GC,8759,1.08,305.1,64.2,15.5,310,8763,0.00,2.10,0.00,0.000,4,0.000,0.035,3100,887,2099
$GC,8937,1.08,305.1,38.9,14.4,326,8945,0.00,2.22,0.00,0.000,6,0.000,0.044,3097,2300,2098
$STATE,9164,end climb,SURFACE_DEPTH_REACHED
$STATE,9164,begin surface coast
$FINISH,0.1,1.023452
$STATE,9182,end surface coast,CONTROL_FINISHED_OK
$STATE,9182,begin surface
$SM_CCo,9197,81.70,0.604,0,0,1430,470.23
$SM_GC,1.26,0.00,0.00,81.70,0.000,0.000,0.604,50,2424,1430,-8.39,0.68,470.23
$IRIDIUM_FIX,2141.13,-15809.76,110300,000020
$TT8_MAMPS,0.023777
$HUMID,1705
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.0,8.689
$10V_AH,10.7,4.116
$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,22.125,88.575,382.300,81.700,0.000,27.430,35.157,242.660,0.000,0.000,0.000,34.576,856.879,6187.522,512.213,1750.332,388.098,33.318,1264.184,0.000,1708.425,0.000,0.543,0.000
$DEVICE_MAMPS,285.324,87.438,1171.209,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,248.510,512.747,526.169,111.714,476.311,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31919,367
$CAP_FILE_SIZE,84567,0
$CFSIZE,260165632,258506752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,161210,045354,2150.542,-15808.646,31,1.3,42,9.9