version: 66.04
glider: 512
mission: 1
dive: 94
start: 12 26 110 4 12 55
data:
$ID,512
$MISSION,1
$DIVE,94
$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,-7241.4531
$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,36
$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
$GPS1,040206,2239.272,-15757.388,29,1.7,30,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-79.1
$GPS2,041202,2239.195,-15757.339,14,1.6,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.191,0.176
$KALMAN_X,-92939.5,-297.5,379.2,116393.6,-69.5
$KALMAN_Y,-109629.4,1201.1,421.3,217113.0,-11117.7
$MHEAD_RNG_PITCHd_Wd,37.3,11673,-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,-70.15,0.000,2,0.000,0.000,44,2557,3031
$GC,89,-0.88,-146.0,3.7,-7.6,9,115,11.62,2.40,-9.10,0.000,4,0.272,0.112,2543,3892,3499
$GC,319,-0.88,-146.0,85.4,-28.8,34,329,0.00,2.05,0.00,0.000,6,0.000,0.029,2551,2544,3500
$GC,581,-0.88,-146.0,164.8,-28.6,59,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2536,3502
$GC,842,-0.88,-146.0,233.3,-25.3,75,846,0.00,2.40,0.00,0.000,4,0.000,0.108,2542,3890,3503
$GC,881,-0.88,-146.0,243.1,-23.6,76,885,0.00,2.00,0.00,0.000,6,0.000,0.030,2550,2532,3503
$GC,1169,-0.88,-146.0,304.7,-20.6,83,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2525,3503
$GC,1413,-0.88,-146.0,350.7,-18.8,89,1417,0.00,2.42,0.00,0.000,4,0.000,0.112,2541,3889,3503
$GC,1484,-0.88,-146.0,365.1,-18.6,90,1489,0.00,2.00,0.00,0.000,6,0.000,0.030,2547,2550,3503
$GC,1739,-0.88,-146.0,411.6,-18.1,97,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2543,3503
$GC,1983,-0.88,-146.0,456.7,-18.7,103,1987,0.00,2.40,0.00,0.000,4,0.000,0.110,2538,3895,3500
$GC,2006,-0.88,-146.0,461.1,-20.3,103,2009,0.00,2.00,0.00,0.000,6,0.000,0.032,2546,2544,3500
$GC,2265,-0.88,-146.0,508.8,-18.0,110,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2537,3499
$GC,2510,-0.88,-146.0,552.4,-17.6,116,2514,0.00,2.42,0.00,0.000,4,0.000,0.116,2538,3889,3497
$GC,2558,-0.88,-146.0,561.4,-17.5,117,2563,0.00,2.00,0.00,0.000,6,0.000,0.033,2545,2559,3497
$GC,2836,-0.88,-146.0,608.1,-16.7,124,2840,0.00,2.40,0.00,0.000,4,0.000,0.116,2537,3892,3495
$GC,2921,-0.88,-146.0,623.0,-17.0,126,2925,0.00,2.00,0.00,0.000,6,0.000,0.035,2545,2547,3494
$GC,3210,-0.88,-146.0,669.4,-15.9,133,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2539,3491
$GC,3452,-0.88,-146.0,707.3,-15.4,139,3457,0.00,2.40,0.00,0.000,4,0.000,0.114,2536,3889,3489
$GC,3565,-0.88,-146.0,725.0,-15.4,141,3569,0.00,2.00,0.00,0.000,6,0.000,0.036,2544,2548,3487
$GC,3826,-0.88,-146.0,763.8,-15.0,148,3830,0.00,2.42,0.00,0.000,4,0.000,0.114,2535,3897,3486
$GC,3891,-0.88,-146.0,774.4,-15.2,149,3896,0.00,2.05,0.00,0.000,6,0.000,0.036,2543,2548,3485
$GC,4153,-0.88,-146.0,811.2,-14.0,156,4157,0.00,2.42,0.00,0.000,4,0.000,0.115,2534,3894,3483
$GC,4208,-0.88,-146.0,819.8,-15.2,157,4212,0.00,2.03,0.00,0.000,6,0.000,0.036,2542,2556,3483
$GC,4480,-0.88,-146.0,857.5,-13.9,164,4484,0.00,2.40,0.00,0.000,4,0.000,0.117,2534,3888,3481
$GC,4523,-0.88,-146.0,864.0,-15.1,165,4527,0.00,2.03,0.00,0.000,6,0.000,0.036,2541,2554,3480
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4809,-0.32,0.0,903.7,14.1,172,4934,0.73,0.00,122.03,1.299,6,0.187,0.000,2744,2546,2900
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4936,0.88,146.0,907.8,0.0,175,5090,1.15,2.42,135.02,1.194,4,0.073,0.076,3135,3895,2303
$GC,5123,0.88,146.0,881.1,31.9,179,5127,0.00,2.17,0.00,0.000,6,0.000,0.035,3145,2559,2299
$GC,5379,0.88,146.0,801.5,30.8,186,5382,0.00,2.22,0.00,0.000,4,0.000,0.038,3156,1128,2292
$GC,5428,0.88,146.0,786.5,28.7,187,5432,0.00,2.38,0.00,0.000,6,0.000,0.062,3150,2539,2291
$GC,5713,0.88,146.0,701.4,30.1,194,5716,0.00,2.15,0.00,0.000,4,0.000,0.037,3159,1128,2289
$GC,5778,0.88,146.0,681.9,27.6,195,5783,0.00,2.38,0.00,0.000,6,0.000,0.064,3159,2549,2288
$GC,6045,0.88,146.0,603.2,29.7,202,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2549,2287
$GC,6289,0.88,146.0,531.5,29.3,208,6293,0.00,2.15,0.00,0.000,4,0.000,0.038,3168,1126,2285
$GC,6343,0.88,146.0,516.0,27.2,209,6348,0.00,2.35,0.00,0.000,6,0.000,0.062,3162,2548,2285
$GC,6622,0.88,146.0,441.1,26.0,216,6626,0.00,2.15,0.00,0.000,4,0.000,0.038,3171,1126,2283
$GC,6667,0.88,146.0,429.7,25.8,217,6671,0.17,2.33,0.00,0.000,6,0.257,0.064,3136,2550,2283
$GC,6949,0.88,146.0,362.5,22.8,224,6952,0.00,2.15,0.00,0.000,4,0.000,0.039,3147,1124,2282
$GC,6997,0.88,146.0,352.2,21.2,225,7002,0.00,2.35,0.00,0.000,6,0.000,0.062,3147,2549,2282
$GC,7281,0.88,146.0,289.0,22.1,232,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2549,2281
$GC,7525,0.88,146.0,241.8,19.6,238,7528,0.00,2.15,0.00,0.000,4,0.000,0.036,3156,1127,2281
$GC,7546,0.88,146.0,237.6,19.0,238,7550,0.00,2.33,0.00,0.000,6,0.000,0.058,3150,2556,2281
$GC,7806,0.88,146.0,186.7,19.0,247,7809,0.00,2.15,0.00,0.000,4,0.000,0.035,3159,1133,2280
$GC,7917,0.88,146.0,167.0,16.0,257,7922,0.00,2.30,0.00,0.000,6,0.000,0.060,3159,2562,2280
$GC,8180,0.88,146.0,123.8,15.2,281,8183,0.00,2.15,0.00,0.000,4,0.000,0.034,3168,1130,2280
$GC,8294,0.96,212.5,111.1,6.9,291,8355,0.00,2.28,50.85,0.713,6,0.000,0.056,3163,2559,2032
$GC,8609,0.96,212.5,48.4,21.9,320,8612,0.00,2.17,0.00,0.000,4,0.000,0.031,3172,1131,2026
$GC,8750,0.96,212.5,17.4,21.4,338,8758,0.00,2.33,0.00,0.000,6,0.000,0.058,3172,2548,2025
$STATE,8817,end climb,SURFACE_DEPTH_REACHED
$STATE,8817,begin surface coast
$FINISH,0.6,1.023488
$STATE,8829,end surface coast,CONTROL_FINISHED_OK
$STATE,8829,begin surface
$SM_CCo,8845,94.57,0.630,0,0,1186,420.19
$SM_GC,0.87,0.00,0.00,94.57,0.000,0.000,0.630,48,2555,1186,-8.75,0.14,420.19
$IRIDIUM_FIX,2232.34,-15758.91,210300,040459
$TT8_MAMPS,0.023777
$HUMID,1738
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,22.30
$XPDR_PINGS,5
$24V_AH,23.9,19.544
$10V_AH,10.7,10.474
$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,22.375,89.300,307.900,94.575,0.000,54.184,70.472,329.711,1.250,0.000,0.000,14.382,764.439,6447.746,491.436,1292.724,551.813,33.358,1067.345,0.000,1284.643,0.000,0.542,0.000
$DEVICE_MAMPS,271.518,116.584,1298.531,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,238.389,481.216,495.577,100.106,417.092,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28945,352
$CAP_FILE_SIZE,76954,0
$CFSIZE,260165632,255053824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,261210,064304,2239.099,-15756.215,15,3.4,35,10.0