version: 66.04
glider: 512
mission: 1
dive: 30
start: 12 16 110 5 4 39
data:
$ID,512
$MISSION,1
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,452
$T_MISSION,900
$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,-3676.375
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2743
$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,2500
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,33
$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
$GPS1,045354,2150.542,-15808.646,31,1.3,42,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.5
$GPS2,050344,2150.593,-15808.581,12,1.7,12,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.011,0.228
$KALMAN_X,8563.7,-2185.2,-298.5,-1874.5,8811.8
$KALMAN_Y,-25358.3,4089.2,608.8,39765.4,-25711.8
$MHEAD_RNG_PITCHd_Wd,352.8,101822,-12.1,-7.006
$D_GRID,950
$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,-0.66,-146.0,0.0,0.0,0,78,0.00,0.00,-62.30,0.000,2,0.000,0.000,48,2424,3087
$GC,80,-0.66,-146.0,3.9,-5.0,8,113,11.80,2.40,-15.12,0.000,4,0.281,0.081,2513,3885,3943
$GC,279,-0.66,-146.0,81.1,-26.9,29,289,0.00,2.12,0.00,0.000,6,0.000,0.031,2518,2509,3944
$GC,541,-0.66,-146.0,182.0,-36.3,54,545,0.00,2.12,0.00,0.000,4,0.000,0.031,2522,1078,3945
$GC,578,-0.66,-146.0,195.7,-32.2,57,587,0.00,2.30,0.00,0.000,6,0.000,0.061,2512,2481,3945
$GC,850,-0.66,-146.0,278.6,-31.2,66,854,0.00,2.25,0.00,0.000,4,0.000,0.059,2501,3904,3946
$GC,892,-0.66,-146.0,290.5,-25.6,67,897,0.00,2.12,0.00,0.000,6,0.000,0.028,2509,2498,3945
$GC,1176,-0.66,-146.0,362.1,-24.4,74,1180,0.00,2.28,0.00,0.000,4,0.000,0.069,2500,3898,3946
$GC,1213,-0.66,-146.0,371.6,-24.9,74,1221,0.00,2.10,0.00,0.000,6,0.000,0.029,2508,2504,3946
$GC,1465,-0.66,-146.0,425.7,-21.4,81,1469,0.00,2.28,0.00,0.000,4,0.000,0.072,2498,3897,3945
$GC,1496,-0.66,-146.0,433.2,-22.6,81,1504,0.00,2.08,0.00,0.000,6,0.000,0.031,2505,2508,3945
$GC,1746,-0.66,-146.0,486.4,-21.3,88,1750,0.00,2.28,0.00,0.000,4,0.000,0.074,2497,3896,3943
$GC,1784,-0.66,-146.0,494.7,-20.8,88,1791,0.00,2.12,0.00,0.000,6,0.000,0.031,2505,2494,3943
$GC,2034,-0.66,-146.0,542.4,-19.1,95,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2490,3941
$GC,2280,-0.66,-146.0,586.9,-18.1,101,2284,0.00,2.30,0.00,0.000,4,0.000,0.075,2496,3897,3938
$GC,2350,-0.66,-146.0,600.3,-16.4,102,2355,0.00,2.12,0.00,0.000,6,0.000,0.033,2504,2499,3937
$GC,2606,-0.66,-146.0,646.1,-18.2,109,2610,0.00,2.30,0.00,0.000,4,0.000,0.074,2495,3903,3935
$GC,2705,-0.66,-146.0,663.6,-16.7,111,2710,0.00,2.12,0.00,0.000,6,0.000,0.035,2503,2505,3933
$GC,2983,-0.66,-146.0,711.9,-17.5,118,2987,0.00,2.28,0.00,0.000,4,0.000,0.075,2494,3896,3930
$GC,3043,-0.66,-146.0,722.7,-17.2,119,3048,0.00,2.12,0.00,0.000,6,0.000,0.035,2503,2503,3930
$GC,3317,-0.66,-146.0,769.4,-17.3,126,3321,0.00,2.30,0.00,0.000,4,0.000,0.077,2493,3903,3927
$GC,3342,-0.66,-146.0,774.7,-19.0,126,3348,0.00,2.15,0.00,0.000,6,0.000,0.036,2502,2501,3927
$GC,3598,-0.66,-146.0,818.6,-17.0,133,3602,0.00,2.30,0.00,0.000,4,0.000,0.077,2492,3897,3924
$GC,3669,-0.66,-146.0,831.1,-16.6,134,3674,0.00,2.12,0.00,0.000,6,0.000,0.036,2501,2505,3923
$GC,3932,-0.66,-146.0,876.2,-17.5,141,3936,0.00,2.30,0.00,0.000,4,0.000,0.078,2491,3901,3921
$GC,3965,-0.66,-146.0,882.3,-19.1,141,3971,0.00,2.12,0.00,0.000,6,0.000,0.038,2500,2493,3921
$GC,4213,-0.66,-146.0,925.4,-17.4,148,4217,0.00,2.33,0.00,0.000,4,0.000,0.080,2490,3901,3919
$GC,4268,-0.66,-146.0,935.4,-17.1,149,4273,0.00,2.12,0.00,0.000,6,0.000,0.038,2498,2502,3918
$STATE,4382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4382,begin apogee
$GC,4386,-0.32,0.0,955.2,17.4,152,4509,0.47,0.00,120.25,1.315,6,0.184,0.000,2636,2259,3347
$STATE,4510,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4511,0.66,146.0,964.4,0.0,155,4649,1.05,2.33,129.75,1.278,4,0.143,0.040,2956,867,2751
$GC,4654,1.06,466.0,972.6,-3.4,158,4950,0.32,2.40,286.45,1.249,6,0.087,0.054,3079,2263,1448
$GC,5206,1.06,466.0,785.8,41.9,172,5209,0.00,2.22,0.00,0.000,4,0.000,0.043,3090,869,1440
$GC,5366,1.06,466.0,726.2,35.3,175,5372,0.00,2.30,0.00,0.000,6,0.000,0.054,3083,2273,1439
$GC,5627,1.06,466.0,620.0,41.2,182,5631,0.00,2.30,0.00,0.000,4,0.000,0.061,3083,3692,1438
$GC,5648,1.06,466.0,611.3,40.8,182,5653,0.00,2.22,0.00,0.000,6,0.000,0.040,3092,2281,1437
$GC,5915,1.06,466.0,504.5,40.4,189,5918,0.00,2.20,0.00,0.000,4,0.000,0.045,3104,857,1436
$GC,5986,1.06,466.0,477.6,32.3,190,5991,0.00,2.28,0.00,0.000,6,0.000,0.054,3097,2265,1436
$GC,6247,1.06,466.0,377.7,39.4,197,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2265,1436
$GC,6491,1.06,466.0,288.0,36.5,203,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2265,1435
$GC,6734,1.06,466.0,199.7,35.7,209,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2265,1435
$GC,6992,1.06,466.0,109.1,33.8,233,6996,0.00,2.28,0.00,0.000,4,0.000,0.058,3097,3701,1434
$GC,7052,1.06,466.0,89.8,29.4,238,7057,0.00,2.20,0.00,0.000,6,0.000,0.039,3106,2259,1433
$GC,7314,1.06,466.0,10.1,32.8,267,7323,0.00,2.12,0.00,0.000,4,0.000,0.039,3118,863,1433
$STATE,7339,end climb,SURFACE_DEPTH_REACHED
$STATE,7340,begin surface coast
$FINISH,-0.3,1.023530
$STATE,7346,end surface coast,CONTROL_FINISHED_OK
$STATE,7346,begin surface
$SM_CCo,7424,0.00,0.000,0,0,1429,470.23
$SM_GC,0.97,8.52,0.00,0.00,0.081,0.000,0.000,54,2513,1429,-8.36,0.37,470.23
$IRIDIUM_FIX,2143.45,-15808.90,110300,050554
$TT8_MAMPS,0.024544
$HUMID,1886
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,8.906
$10V_AH,10.7,4.176
$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,22.175,85.250,536.450,0.000,0.000,50.682,64.337,330.788,0.000,0.000,0.000,12.604,606.022,5272.585,544.182,1080.625,523.255,33.320,1117.487,0.000,1069.183,0.000,0.542,0.000
$DEVICE_MAMPS,281.489,81.302,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,183.289,344.061,354.907,71.389,302.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22493,272
$CAP_FILE_SIZE,70233,0
$CFSIZE,260165632,258482176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,161210,070908,2152.149,-15808.240,13,1.9,14,9.9