version: 66.04
glider: 512
mission: 3
dive: 9
start: 8 6 112 15 25 35
data:
$ID,512
$MISSION,3
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,200
$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,52093
$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,380
$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,-50175.137
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2241
$C_ROLL_CLIMB,2241
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2620
$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,0.0043351329
$SEABIRD_T_H,0.00062097196
$SEABIRD_T_I,2.1804433e-05
$SEABIRD_T_J,2.1334395e-06
$SEABIRD_C_G,-10.059877
$SEABIRD_C_H,1.1555313
$SEABIRD_C_I,-0.0022602002
$SEABIRD_C_J,0.00025523445
$GPS1,151845,2247.340,-15803.335,9,2.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-78.3
$GPS2,152457,2247.270,-15803.406,17,2.3,36,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.236,-0.108
$KALMAN_X,-6244.0,-589.4,-49.0,5453.1,-2142.3
$KALMAN_Y,204.4,760.4,-743.0,-3722.7,-567.3
$MHEAD_RNG_PITCHd_Wd,104.4,7178,-17.5,-10.000
$D_GRID,300
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-82.25,0.000,2,0.000,0.000,42,2261,3178
$GC,104,-0.76,-146.0,4.3,-8.9,10,121,8.52,2.10,-0.68,0.000,4,0.206,0.046,2337,3654,3219
$GC,146,-0.76,-146.0,30.9,-64.2,16,149,0.00,2.05,0.00,0.000,6,0.000,0.025,2344,2250,3218
$GC,410,-0.76,-146.0,93.6,-19.9,41,413,0.00,2.12,0.00,0.000,4,0.000,0.041,2335,3641,3219
$GC,509,-0.76,-146.0,113.0,-19.2,50,512,0.00,2.03,0.00,0.000,6,0.000,0.025,2337,2234,3220
$GC,771,-0.76,-146.0,165.7,-18.6,75,774,0.00,2.15,0.00,0.000,4,0.000,0.041,2328,3649,3220
$GC,850,-0.76,-146.0,178.3,-14.9,82,853,0.00,2.03,0.00,0.000,6,0.000,0.024,2328,2234,3221
$GC,1107,-0.76,-146.0,218.5,-14.9,98,1110,0.00,2.15,0.00,0.000,4,0.000,0.041,2319,3651,3221
$GC,1195,-0.76,-146.0,230.1,-12.6,100,1198,0.12,2.03,0.00,0.000,6,0.132,0.024,2354,2230,3221
$GC,1481,-0.76,-146.0,262.7,-11.3,107,1484,0.00,2.15,0.00,0.000,4,0.000,0.043,2347,3643,3220
$GC,1696,-0.76,-146.0,289.6,-12.5,112,1699,0.00,2.00,0.00,0.000,6,0.000,0.025,2346,2245,3219
$STATE,1776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1776,begin apogee
$GC,1786,-0.27,0.0,300.6,13.0,114,1909,0.50,0.00,120.38,0.808,6,0.108,0.000,2513,2234,2619
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1914,0.76,146.0,307.3,0.0,117,2053,0.85,2.20,126.65,0.784,4,0.031,0.025,2878,825,2023
$GC,2304,0.76,146.0,258.5,19.4,126,2307,0.12,2.12,0.00,0.000,6,0.213,0.034,2850,2244,2017
$GC,2585,0.76,146.0,203.2,18.4,133,2588,0.00,2.05,0.00,0.000,4,0.000,0.027,2859,828,2015
$GC,2653,0.76,146.0,192.0,15.6,136,2656,0.00,2.10,0.00,0.000,6,0.000,0.034,2859,2239,2015
$GC,2916,0.76,146.0,152.3,14.2,161,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2240,2013
$GC,3173,0.76,146.0,119.4,12.1,186,3176,0.00,2.10,0.00,0.000,4,0.000,0.039,2859,3649,2013
$GC,3297,0.76,146.0,101.0,14.6,197,3304,0.00,2.05,0.00,0.000,6,0.000,0.024,2868,2238,2012
$GC,3555,0.76,146.0,71.6,10.3,222,3558,0.00,2.00,0.00,0.000,4,0.000,0.026,2878,832,2012
$GC,3803,0.87,236.9,48.8,5.8,245,3886,0.00,2.08,71.30,0.644,6,0.000,0.033,2875,2247,1654
$STATE,4038,end climb,SURFACE_DEPTH_REACHED
$STATE,4038,begin surface coast
$FINISH,-0.2,1.023538
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4071,59.90,0.589,0,0,1069,380.21
$SM_GC,0.70,0.00,0.00,59.90,0.000,0.000,0.589,43,2258,1069,-7.99,0.48,380.21
$IRIDIUM_FIX,2239.35,-15804.53,311001,141416
$TT8_MAMPS,0.046787
$HUMID,2231
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.20
$XPDR_PINGS,45
$24V_AH,24.7,1.511
$10V_AH,10.8,1.061
$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,17.475,37.500,318.325,59.900,0.000,25.106,37.024,153.619,11.250,0.000,0.000,37.274,0.000,2091.880,386.665,1560.960,456.263,33.295,839.735,0.000,1399.915,0.000,0.546,0.000
$DEVICE_MAMPS,213.226,46.020,807.651,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,186.235,813.718,842.002,121.574,697.189,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22494,278
$CAP_FILE_SIZE,45144,0
$CFSIZE,260165632,257593344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,1
$GPS,060812,163507,2246.829,-15803.561,10,1.7,10,10.1