version: 66.04
glider: 512
mission: 3
dive: 50
start: 8 9 112 14 26 39
data:
$ID,512
$MISSION,3
$DIVE,50
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$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,200
$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,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,515.36688
$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,-51202.402
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2570
$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,2520
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2500
$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
$GPS1,141000,2247.959,-15801.330,39,1.3,40,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-74.2
$GPS2,142601,2248.021,-15801.468,15,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.178,-0.189
$KALMAN_X,-77535.5,1451.6,429.8,77522.7,-6131.4
$KALMAN_Y,3621.9,-1210.9,-579.9,-3937.8,3559.2
$MHEAD_RNG_PITCHd_Wd,126.5,6131,-17.5,-10.000
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,120,0.00,0.00,-98.70,0.000,2,0.000,0.000,13,2552,2974
$GC,125,-0.76,-146.0,3.0,-5.4,12,141,8.50,1.98,-2.25,0.000,4,0.205,0.047,2312,3891,3096
$GC,157,-0.76,-146.0,20.1,-46.5,16,165,0.00,2.03,0.00,0.000,6,0.000,0.022,2319,2522,3097
$GC,418,-0.76,-146.0,104.8,-25.6,42,421,0.00,2.10,0.00,0.000,4,0.000,0.041,2310,3877,3097
$GC,485,-0.76,-146.0,119.8,-20.8,48,488,0.00,1.98,0.00,0.000,6,0.000,0.022,2312,2520,3098
$GC,749,-0.76,-146.0,178.4,-22.3,73,753,0.00,2.08,0.00,0.000,4,0.000,0.042,2303,3872,3097
$GC,858,-0.76,-146.0,201.9,-20.2,83,862,0.00,1.95,0.00,0.000,6,0.000,0.022,2306,2513,3097
$GC,1123,-0.76,-146.0,254.2,-18.8,90,1127,0.00,2.08,0.00,0.000,4,0.000,0.042,2296,3875,3098
$GC,1151,-0.76,-146.0,259.1,-17.9,90,1154,0.00,1.98,0.00,0.000,6,0.000,0.021,2299,2500,3097
$GC,1411,-0.76,-146.0,302.6,-16.7,97,1414,0.00,2.12,0.00,0.000,4,0.000,0.043,2290,3878,3097
$GC,1455,-0.76,-146.0,310.7,-18.2,98,1458,0.10,1.95,0.00,0.000,6,0.153,0.023,2320,2520,3097
$GC,1741,-0.76,-146.0,353.3,-14.6,105,1744,0.00,2.08,0.00,0.000,4,0.000,0.044,2312,3867,3095
$GC,1758,-0.76,-146.0,355.9,-14.9,105,1761,0.00,1.95,0.00,0.000,6,0.000,0.023,2312,2518,3095
$GC,2028,-0.76,-146.0,394.3,-13.7,112,2032,0.00,2.10,0.00,0.000,4,0.000,0.045,2304,3874,3093
$GC,2083,-0.76,-146.0,401.9,-13.4,113,2086,0.00,1.95,0.00,0.000,6,0.000,0.025,2304,2514,3092
$GC,2359,-0.76,-146.0,438.0,-13.0,120,2362,0.00,2.10,0.00,0.000,4,0.000,0.046,2294,3868,3090
$GC,2419,-0.76,-146.0,446.2,-13.4,121,2422,0.00,1.95,0.00,0.000,6,0.000,0.025,2296,2519,3090
$GC,2689,-0.76,-146.0,482.9,-13.6,128,2692,0.00,2.10,0.00,0.000,4,0.000,0.047,2290,3868,3088
$GC,2776,-0.76,-146.0,494.9,-13.5,130,2779,0.12,1.98,0.00,0.000,6,0.142,0.025,2327,2509,3087
$GC,3062,-0.76,-146.0,526.5,-10.7,137,3065,0.00,2.12,0.00,0.000,4,0.000,0.049,2319,3869,3084
$GC,3208,-0.76,-146.0,543.5,-11.8,140,3211,0.00,1.95,0.00,0.000,6,0.000,0.027,2320,2520,3083
$GC,3478,-0.76,-146.0,575.7,-11.8,147,3481,0.00,2.10,0.00,0.000,4,0.000,0.050,2309,3866,3080
$GC,3506,-0.76,-146.0,579.1,-11.9,147,3509,0.00,1.98,0.00,0.000,6,0.000,0.028,2310,2517,3080
$STATE,3680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3680,begin apogee
$GC,3690,-0.27,0.0,600.5,12.0,152,3816,0.52,0.00,123.85,1.070,6,0.121,0.000,2478,2425,2499
$STATE,3817,end apogee,CONTROL_FINISHED_OK
$STATE,3817,begin climb
$GC,3822,0.76,146.0,604.1,0.0,155,3964,0.90,2.15,131.45,1.007,4,0.044,0.029,2831,1052,1903
$GC,3980,0.76,146.0,585.3,23.8,158,3984,0.00,2.20,0.00,0.000,6,0.000,0.040,2831,2419,1900
$GC,4229,0.76,146.0,514.7,28.2,164,4232,0.00,2.05,0.00,0.000,4,0.000,0.030,2841,1048,1895
$GC,4252,0.76,146.0,508.8,26.1,164,4255,0.00,2.17,0.00,0.000,6,0.000,0.039,2836,2451,1894
$GC,4519,0.76,146.0,437.9,26.8,171,4522,0.00,2.17,0.00,0.000,4,0.000,0.047,2836,3853,1893
$GC,4574,0.76,146.0,421.4,28.7,172,4577,0.00,2.08,0.00,0.000,6,0.000,0.028,2845,2463,1891
$GC,4849,0.76,146.0,351.1,25.0,179,4852,0.00,2.12,0.00,0.000,4,0.000,0.031,2856,1019,1890
$GC,4883,0.76,146.0,343.2,24.4,179,4886,0.15,2.17,0.00,0.000,6,0.199,0.042,2821,2439,1890
$GC,5131,0.76,146.0,285.3,22.3,185,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2439,1889
$GC,5375,0.76,146.0,228.1,23.4,191,5378,0.00,2.17,0.00,0.000,4,0.000,0.044,2821,3860,1888
$GC,5441,0.76,146.0,212.7,22.5,192,5444,0.00,2.12,0.00,0.000,6,0.000,0.028,2830,2429,1887
$GC,5703,0.76,146.0,162.3,16.3,213,5706,0.00,2.05,0.00,0.000,4,0.000,0.031,2841,1020,1887
$GC,5801,0.76,146.0,145.8,16.6,222,5805,0.00,2.12,0.00,0.000,6,0.000,0.039,2836,2442,1887
$GC,6065,0.76,146.0,102.8,17.3,247,6068,0.00,2.08,0.00,0.000,4,0.000,0.028,2845,1015,1887
$GC,6121,0.76,146.0,94.1,14.7,252,6124,0.00,2.15,0.00,0.000,6,0.000,0.039,2845,2445,1887
$GC,6385,0.76,146.0,56.8,14.6,277,6388,0.00,2.15,0.00,0.000,4,0.000,0.044,2844,3858,1887
$GC,6537,0.76,146.0,34.2,14.4,291,6541,0.15,2.08,0.00,0.000,6,0.209,0.025,2821,2439,1887
$STATE,6772,end climb,SURFACE_DEPTH_REACHED
$STATE,6772,begin surface coast
$FINISH,-0.1,1.023507
$STATE,6794,end surface coast,CONTROL_FINISHED_OK
$STATE,6794,begin surface
$SM_CCo,6817,174.95,0.621,0,0,399,515.37
$SM_GC,0.58,0.00,0.00,174.95,0.000,0.000,0.621,37,2546,399,-7.90,0.74,515.37
$IRIDIUM_FIX,2239.35,-15757.16,031101,141454
$TT8_MAMPS,0.046787
$HUMID,2078
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,195
$24V_AH,24.3,6.194
$10V_AH,10.7,5.068
$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,17.550,78.800,255.300,174.950,0.000,123.465,214.680,212.893,48.750,0.000,0.000,15.670,0.000,4815.438,486.841,1729.693,911.187,33.327,1009.138,0.000,1540.278,0.000,0.544,0.000
$DEVICE_MAMPS,208.624,84.370,1069.965,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,226.386,809.202,849.524,118.609,718.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28904,335
$CAP_FILE_SIZE,69736,0
$CFSIZE,260165632,256086016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,090812,162412,2247.292,-15801.293,13,1.4,30,10.1