version: 66.04
glider: 512
mission: 1
dive: 107
start: 12 27 110 4 7 0
data:
$ID,512
$MISSION,1
$DIVE,107
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,740
$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,166
$T_MISSION,400
$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,-7533.6133
$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,56
$R_STBD_OVSHOOT,23
$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
$GPS1,034640,2243.559,-15757.055,8,2.7,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.2
$GPS2,040606,2243.298,-15756.948,37,1.0,37,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.035,0.258
$KALMAN_X,-82200.8,-583.9,-287.9,107305.1,4143.4
$KALMAN_Y,-125700.3,571.4,39.3,241810.6,-5267.2
$MHEAD_RNG_PITCHd_Wd,357.7,6090,-17.6,-10.040
$D_GRID,500
$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,-70.15,0.000,2,0.000,0.000,33,2533,3022
$GC,89,-0.88,-146.0,3.6,-7.5,9,114,11.30,2.40,-9.40,0.000,4,0.264,0.104,2544,3885,3497
$GC,360,-0.88,-146.0,95.7,-27.3,39,364,0.00,1.95,0.00,0.000,6,0.000,0.028,2551,2557,3499
$GC,627,-0.88,-146.0,165.8,-25.9,64,631,0.00,2.35,0.00,0.000,4,0.000,0.105,2543,3883,3500
$GC,725,-0.88,-146.0,190.3,-21.6,72,734,0.00,1.98,0.00,0.000,6,0.000,0.028,2549,2553,3501
$GC,977,-0.88,-146.0,247.8,-22.2,82,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2545,3501
$GC,1220,-0.88,-146.0,301.0,-22.0,88,1225,0.00,2.38,0.00,0.000,4,0.000,0.106,2536,3894,3501
$GC,1281,-0.88,-146.0,314.9,-22.0,89,1286,0.00,2.00,0.00,0.000,6,0.000,0.030,2544,2548,3500
$GC,1549,-0.88,-146.0,368.1,-19.5,96,1553,0.00,2.38,0.00,0.000,4,0.000,0.107,2536,3893,3499
$GC,1587,-0.88,-146.0,375.6,-19.3,97,1591,0.00,1.98,0.00,0.000,6,0.000,0.031,2544,2535,3499
$GC,1875,-0.88,-146.0,429.9,-18.9,104,1879,0.00,2.42,0.00,0.000,4,0.000,0.111,2535,3894,3497
$GC,1960,-0.88,-146.0,446.0,-18.1,106,1964,0.00,1.98,0.00,0.000,6,0.000,0.032,2542,2548,3496
$GC,2250,-0.88,-146.0,496.8,-17.0,113,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2541,3495
$STATE,2287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2287,begin apogee
$GC,2291,-0.32,0.0,503.3,16.4,114,2411,0.70,0.00,116.28,0.930,6,0.185,0.000,2739,2539,2900
$STATE,2411,end apogee,CONTROL_FINISHED_OK
$STATE,2411,begin climb
$GC,2413,0.88,146.0,506.7,0.0,117,2540,1.20,0.00,123.65,0.912,6,0.094,0.000,3137,2538,2304
$GC,2774,0.88,146.0,433.6,26.0,126,2777,0.00,2.12,0.00,0.000,4,0.000,0.034,3148,1146,2294
$GC,2851,0.88,146.0,414.0,22.9,127,2855,0.00,2.33,0.00,0.000,6,0.000,0.061,3148,2546,2293
$GC,3107,0.88,146.0,350.0,25.5,134,3111,0.00,2.12,0.00,0.000,4,0.000,0.033,3157,1134,2290
$GC,3117,0.88,146.0,347.2,24.9,134,3122,0.00,2.28,0.00,0.000,6,0.000,0.054,3158,2551,2289
$GC,3397,0.88,146.0,280.1,23.5,141,3401,0.00,2.10,0.00,0.000,4,0.000,0.034,3168,1142,2286
$GC,3457,0.88,146.0,266.3,20.0,142,3462,0.00,2.30,0.00,0.000,6,0.000,0.061,3163,2545,2286
$GC,3730,0.88,146.0,204.9,22.5,149,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2545,2285
$GC,3984,0.88,146.0,154.4,19.0,170,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2545,2283
$GC,4239,0.88,146.0,105.9,15.6,194,4242,0.00,2.08,0.00,0.000,4,0.000,0.032,3171,1131,2282
$GC,4264,0.88,146.0,102.3,14.1,196,4273,0.00,2.25,0.00,0.000,6,0.000,0.053,3163,2547,2282
$GC,4527,0.88,146.0,67.7,10.7,221,4531,0.00,2.10,0.00,0.000,4,0.000,0.031,3172,1136,2281
$GC,4779,0.92,176.8,41.7,8.6,244,4807,0.00,2.22,22.02,0.611,6,0.000,0.054,3163,2551,2178
$STATE,5036,end climb,SURFACE_DEPTH_REACHED
$STATE,5036,begin surface coast
$FINISH,0.3,1.023534
$STATE,5053,end surface coast,CONTROL_FINISHED_OK
$STATE,5053,begin surface
$SM_CCo,5069,112.45,0.578,0,0,1185,420.19
$SM_GC,1.18,0.00,0.00,112.45,0.000,0.000,0.578,54,2556,1185,-8.73,0.20,420.19
$IRIDIUM_FIX,2234.68,-15755.87,220300,040453
$TT8_MAMPS,0.023777
$HUMID,1735
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.5,20.938
$10V_AH,10.8,11.391
$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,21.875,43.700,261.950,112.450,0.000,144.901,177.894,479.655,0.000,0.000,0.000,38.353,580.552,3354.149,451.836,1075.720,901.771,33.332,840.899,0.000,1056.038,0.000,0.543,0.000
$DEVICE_MAMPS,263.848,111.215,929.604,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,192.769,510.433,522.880,128.971,538.729,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22497,286
$CAP_FILE_SIZE,58352,0
$CFSIZE,260165632,254636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,271210,053408,2243.346,-15756.521,13,1.6,13,10.1