version: 66.04
glider: 512
mission: 3
dive: 12
start: 8 6 112 20 42 6
data:
$ID,512
$MISSION,3
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,270
$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,-50272.715
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2650
$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,79
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2580
$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
$GPS1,201801,2246.868,-15803.853,17,1.3,17,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-77.7
$GPS2,204128,2247.005,-15803.977,16,1.7,19,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.253,0.060
$KALMAN_X,-13127.6,233.0,125.9,10362.9,-2362.5
$KALMAN_Y,-322.2,-512.6,478.6,-3634.6,-288.6
$MHEAD_RNG_PITCHd_Wd,66.7,7740,-17.5,-10.025
$D_GRID,400
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-81.78,0.000,6,0.000,0.000,31,2200,3178
$GC,103,-0.76,-146.0,4.8,-10.6,10,121,8.80,2.17,0.00,0.000,4,0.207,0.029,2386,3661,3179
$GC,169,-0.76,-146.0,37.0,-26.4,19,177,0.00,2.08,0.00,0.000,6,0.000,0.025,2392,2266,3178
$GC,427,-0.76,-146.0,78.3,-14.1,44,430,0.00,2.12,0.00,0.000,4,0.000,0.041,2383,3653,3179
$GC,592,-0.76,-146.0,98.2,-10.6,59,600,0.00,2.08,0.00,0.000,6,0.000,0.023,2383,2232,3179
$GC,850,-0.76,-146.0,130.4,-13.9,84,853,0.00,2.15,0.00,0.000,4,0.000,0.041,2372,3647,3179
$GC,1012,-0.76,-146.0,152.1,-12.4,99,1016,0.12,2.00,0.00,0.000,6,0.134,0.022,2407,2233,3179
$GC,1280,-0.76,-146.0,176.1,-7.6,124,1283,0.00,2.15,0.00,0.000,4,0.000,0.043,2401,3644,3179
$GC,1380,-0.76,-146.0,182.6,-5.6,133,1383,0.00,2.00,0.00,0.000,6,0.000,0.022,2408,2232,3179
$GC,1671,-0.76,-146.0,203.3,-7.7,158,1674,0.00,2.15,0.00,0.000,4,0.000,0.043,2401,3642,3179
$GC,1768,-0.76,-146.0,210.8,-7.4,160,1771,0.00,2.00,0.00,0.000,6,0.000,0.023,2407,2232,3179
$GC,2044,-0.76,-146.0,232.4,-7.8,167,2047,0.00,2.15,0.00,0.000,4,0.000,0.044,2402,3641,3178
$GC,2120,-0.76,-146.0,238.4,-7.5,168,2123,0.00,2.00,0.00,0.000,6,0.000,0.024,2402,2233,3177
$GC,2374,-0.76,-146.0,258.5,-7.7,175,2378,0.00,2.15,0.00,0.000,4,0.000,0.045,2401,3648,3176
$GC,2461,-0.76,-146.0,263.8,-6.1,177,2464,0.00,2.00,0.00,0.000,6,0.000,0.024,2401,2238,3176
$GC,2748,-0.76,-146.0,280.4,-5.8,184,2751,0.00,2.15,0.00,0.000,4,0.000,0.046,2399,3642,3175
$GC,2824,-0.76,-146.0,284.6,-5.4,185,2827,0.00,2.00,0.00,0.000,6,0.000,0.024,2399,2237,3174
$GC,3078,-0.76,-146.0,300.2,-6.2,192,3081,0.00,2.15,0.00,0.000,4,0.000,0.047,2398,3639,3173
$GC,3159,-0.76,-146.0,305.6,-6.1,193,3165,0.00,2.00,0.00,0.000,6,0.000,0.025,2399,2238,3172
$GC,3408,-0.76,-146.0,322.9,-6.9,200,3412,0.00,2.15,0.00,0.000,4,0.000,0.048,2399,3640,3171
$GC,3474,-0.76,-146.0,327.0,-5.9,201,3477,0.00,2.00,0.00,0.000,6,0.000,0.025,2399,2240,3170
$GC,3739,-0.76,-146.0,345.0,-6.7,208,3742,0.00,2.17,0.00,0.000,4,0.000,0.048,2398,3649,3169
$GC,3810,-0.76,-146.0,349.8,-6.9,209,3813,0.00,2.03,0.00,0.000,6,0.000,0.025,2398,2233,3169
$GC,4072,-0.76,-146.0,365.9,-5.9,216,4075,0.00,2.00,0.00,0.000,4,0.000,0.028,2397,830,3168
$GC,4132,-0.76,-146.0,369.9,-7.0,217,4135,0.00,2.10,0.00,0.000,6,0.000,0.038,2397,2240,3167
$GC,4402,-0.76,-146.0,386.3,-6.2,224,4406,0.00,2.15,-0.08,0.000,4,0.000,0.063,2397,3656,3187
$GC,4505,-0.76,-146.0,393.5,-8.4,226,4508,0.00,2.03,0.00,0.000,6,0.000,0.026,2397,2241,3187
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4614,-0.27,0.0,400.5,6.8,229,4740,0.45,0.00,124.68,0.930,6,0.048,0.000,2583,2232,2580
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4741,begin climb
$GC,4745,0.76,146.0,408.1,0.0,232,4877,0.82,2.15,125.65,0.890,4,0.038,0.026,2911,830,1983
$GC,5096,0.76,146.0,354.5,24.8,240,5100,0.00,2.15,0.00,0.000,6,0.000,0.035,2912,2244,1976
$GC,5366,0.76,146.0,291.9,22.7,247,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2244,1974
$GC,5609,0.76,146.0,237.9,21.6,253,5612,0.00,2.12,0.00,0.000,4,0.000,0.041,2905,3655,1973
$GC,5636,0.76,146.0,232.0,22.2,253,5640,0.00,2.05,0.00,0.000,6,0.000,0.027,2913,2242,1972
$GC,5891,0.76,146.0,184.1,17.8,265,5894,0.00,2.15,0.00,0.000,4,0.000,0.041,2914,3659,1972
$GC,6001,0.76,146.0,166.5,14.9,275,6004,0.00,2.05,0.00,0.000,6,0.000,0.026,2923,2250,1971
$GC,6263,0.76,146.0,125.1,15.7,300,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2244,1971
$GC,6511,0.76,146.0,80.9,17.6,324,6514,0.00,2.10,0.00,0.000,4,0.000,0.040,2918,3652,1971
$GC,6548,0.76,146.0,75.0,17.2,327,6552,0.12,2.05,0.00,0.000,6,0.216,0.025,2901,2227,1971
$GC,6810,0.83,197.4,42.5,7.6,351,6854,0.00,2.08,39.85,0.670,4,0.000,0.027,2910,826,1774
$GC,6877,0.83,197.4,35.7,14.1,356,6880,0.00,2.12,0.00,0.000,6,0.000,0.034,2905,2244,1772
$STATE,7038,end climb,SURFACE_DEPTH_REACHED
$STATE,7038,begin surface coast
$FINISH,-0.2,1.023576
$STATE,7053,end surface coast,CONTROL_FINISHED_OK
$STATE,7053,begin surface
$SM_CCo,7076,88.12,0.614,0,0,1029,380.21
$SM_GC,0.81,0.00,0.00,88.12,0.000,0.000,0.614,49,2246,1029,-8.13,0.14,380.21
$IRIDIUM_FIX,2239.35,-15802.37,311001,202015
$TT8_MAMPS,0.046787
$HUMID,2225
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.10
$XPDR_PINGS,47
$24V_AH,24.5,1.913
$10V_AH,10.7,1.395
$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,17.700,75.150,290.175,88.125,0.000,119.934,145.145,763.175,11.750,0.000,0.000,19.912,0.000,4727.708,410.069,2015.904,1406.609,33.317,997.299,0.000,1807.736,0.000,0.545,0.000
$DEVICE_MAMPS,215.527,62.894,929.604,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,260.900,1008.111,1039.467,142.630,784.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32061,387
$CAP_FILE_SIZE,83939,0
$CFSIZE,260165632,257433600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,060812,224236,2247.069,-15803.703,34,1.2,35,10.1