version: 66.04
glider: 512
mission: 3
dive: 72
start: 8 12 112 3 29 15
data:
$ID,512
$MISSION,3
$DIVE,72
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,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,140
$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,-51722.52
$T_RSLEEP,3
$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,2630
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2640
$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
$GPS1,032235,2249.547,-15804.122,36,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-79.5
$GPS2,032837,2249.572,-15804.157,16,2.0,16,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.203,-0.148
$KALMAN_X,-139206.1,1430.3,727.8,134309.3,-5953.6
$KALMAN_Y,19055.4,19.5,239.0,-18551.9,1087.3
$MHEAD_RNG_PITCHd_Wd,116.0,11050,-18.2,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.77,-136.3,0.0,0.0,0,91,0.00,0.00,-74.28,0.000,2,0.000,0.000,33,2614,2995
$GC,96,-0.77,-136.3,3.5,-6.7,9,114,8.65,2.05,-3.58,0.000,4,0.208,0.036,2351,1190,3197
$GC,124,-0.77,-136.3,18.2,-39.6,12,132,0.00,2.22,0.00,0.000,6,0.000,0.037,2343,2625,3198
$GC,385,-0.77,-136.3,93.0,-22.9,39,388,0.00,1.92,0.00,0.000,4,0.000,0.044,2333,3902,3199
$GC,505,-0.77,-136.3,117.4,-18.7,50,508,0.00,1.88,0.00,0.000,6,0.000,0.022,2335,2623,3199
$GC,768,-0.77,-136.3,173.2,-21.0,75,770,0.00,2.00,0.00,0.000,4,0.000,0.025,2334,1223,3200
$GC,795,-0.77,-136.3,179.6,-21.0,77,803,0.00,2.15,0.00,0.000,6,0.000,0.039,2333,2623,3200
$GC,1067,-0.77,-136.3,230.9,-18.3,92,1070,0.00,1.92,0.00,0.000,4,0.000,0.045,2323,3899,3201
$GC,1165,-0.77,-136.3,247.3,-15.6,94,1168,0.00,1.83,0.00,0.000,6,0.000,0.022,2323,2617,3201
$GC,1442,-0.77,-136.3,292.4,-16.0,101,1446,0.00,1.98,0.00,0.000,4,0.000,0.025,2323,1229,3201
$GC,1465,-0.77,-136.3,296.5,-16.4,101,1469,0.12,2.12,0.00,0.000,6,0.139,0.040,2354,2638,3200
$GC,1725,-0.77,-136.3,325.8,-10.9,108,1728,0.00,1.90,0.00,0.000,4,0.000,0.048,2354,3892,3200
$GC,1774,-0.77,-136.3,330.9,-9.0,109,1777,0.00,1.80,0.00,0.000,6,0.000,0.023,2354,2626,3199
$GC,2058,-0.77,-136.3,358.6,-9.9,116,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2619,3199
$GC,2297,-0.77,-136.3,382.7,-9.8,122,2301,0.00,1.95,0.00,0.000,4,0.000,0.047,2346,3896,3197
$GC,2315,-0.77,-136.3,384.4,-9.9,122,2318,0.00,1.83,0.00,0.000,6,0.000,0.025,2346,2631,3197
$GC,2585,-0.77,-136.3,413.9,-11.2,129,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2623,3195
$GC,2827,-0.77,-136.3,442.2,-11.8,135,2830,0.00,2.00,0.00,0.000,4,0.000,0.028,2346,1235,3194
$GC,2849,-0.77,-136.3,444.9,-11.8,135,2853,0.00,2.10,0.00,0.000,6,0.000,0.044,2346,2627,3194
$GC,3114,-0.77,-136.3,475.1,-11.4,142,3117,0.00,1.92,0.00,0.000,4,0.000,0.050,2338,3895,3191
$GC,3164,-0.77,-136.3,480.6,-11.1,143,3167,0.00,1.85,0.00,0.000,6,0.000,0.026,2338,2623,3190
$GC,3445,-0.77,-136.3,513.1,-11.7,150,3448,0.00,2.00,0.00,0.000,4,0.000,0.051,2333,3908,3189
$GC,3478,-0.77,-136.3,517.2,-12.0,150,3481,0.00,1.88,0.00,0.000,6,0.000,0.028,2333,2628,3188
$GC,3732,-0.77,-136.3,547.5,-11.8,157,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2620,3187
$GC,3974,-0.77,-136.3,574.4,-10.9,163,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2620,3185
$GC,4216,-0.77,-136.3,598.8,-10.0,169,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2621,3183
$STATE,4252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4252,begin apogee
$GC,4262,-0.27,0.0,602.7,9.8,170,4379,0.55,0.00,114.88,1.064,6,0.136,0.000,2515,2391,2640
$STATE,4379,end apogee,CONTROL_FINISHED_OK
$STATE,4379,begin climb
$GC,4384,0.77,136.3,607.1,0.0,173,4522,0.90,2.22,124.43,1.039,4,0.036,0.031,2873,1002,2083
$GC,4640,0.77,136.3,578.0,24.6,179,4643,0.00,2.20,0.00,0.000,6,0.000,0.040,2873,2406,2077
$GC,4928,0.77,136.3,508.5,23.7,186,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2406,2074
$GC,5168,0.77,136.3,452.1,23.1,192,5171,0.00,2.17,0.00,0.000,4,0.000,0.048,2874,3805,2072
$GC,5287,0.77,136.3,423.5,22.2,194,5290,0.15,2.10,0.00,0.000,6,0.222,0.029,2850,2396,2070
$GC,5536,0.77,136.3,370.8,21.0,200,5539,0.00,2.08,0.00,0.000,4,0.000,0.031,2861,987,2069
$GC,5601,0.77,136.3,357.6,19.3,201,5604,0.00,2.17,0.00,0.000,6,0.000,0.041,2861,2407,2069
$GC,5861,0.77,136.3,304.5,19.9,208,5864,0.00,2.17,0.00,0.000,4,0.000,0.047,2860,3823,2068
$GC,5894,0.77,136.3,298.3,19.5,208,5897,0.00,2.10,0.00,0.000,6,0.000,0.028,2871,2405,2067
$GC,6148,0.77,136.3,254.0,17.4,215,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2399,2067
$GC,6392,0.77,136.3,220.8,13.1,221,6395,0.00,2.17,0.00,0.000,4,0.000,0.045,2871,3820,2067
$GC,6452,0.77,136.3,212.2,14.0,222,6456,0.12,2.12,0.00,0.000,6,0.230,0.028,2855,2386,2066
$GC,6714,0.82,174.4,183.2,8.1,240,6753,0.00,2.12,30.15,0.782,4,0.000,0.029,2865,977,1926
$GC,6768,0.82,174.4,177.7,12.7,244,6772,0.00,2.20,0.00,0.000,6,0.000,0.039,2863,2404,1925
$GC,7026,0.82,174.4,132.5,18.2,268,7029,0.00,2.10,0.00,0.000,4,0.000,0.029,2871,983,1922
$GC,7084,0.82,174.4,122.2,18.2,273,7087,0.00,2.17,0.00,0.000,6,0.000,0.038,2871,2408,1922
$GC,7342,0.82,174.4,70.7,19.5,297,7345,0.00,2.10,0.00,0.000,4,0.000,0.028,2880,975,1922
$GC,7421,0.82,174.4,57.8,14.5,304,7425,0.00,2.17,0.00,0.000,6,0.000,0.038,2875,2411,1921
$GC,7680,0.82,177.4,29.3,9.9,328,7688,0.00,2.15,0.00,0.000,4,0.000,0.043,2875,3811,1921
$GC,7764,0.82,177.4,19.8,10.9,343,7772,0.00,2.10,0.00,0.000,6,0.000,0.024,2884,2391,1922
$STATE,7888,end climb,SURFACE_DEPTH_REACHED
$STATE,7888,begin surface coast
$FINISH,0.4,1.023422
$STATE,7908,end surface coast,CONTROL_FINISHED_OK
$STATE,7908,begin surface
$SM_CCo,7931,98.90,0.623,0,0,1090,380.21
$SM_GC,0.65,0.00,0.00,98.90,0.000,0.000,0.623,34,2659,1090,-8.01,0.82,380.21
$IRIDIUM_FIX,2241.69,-15806.70,061101,010105
$TT8_MAMPS,0.046787
$HUMID,2094
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.50
$XPDR_PINGS,369
$24V_AH,24.3,9.204
$10V_AH,10.6,7.607
$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,17.750,78.600,269.450,98.900,0.000,29.326,36.571,153.955,92.250,0.000,0.000,16.224,0.000,5632.677,415.759,1765.277,565.006,33.343,962.945,0.000,1560.776,0.000,0.544,0.000
$DEVICE_MAMPS,230.100,50.622,1063.829,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,249.963,856.592,879.860,136.244,703.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31939,370
$CAP_FILE_SIZE,69465,0
$CFSIZE,260165632,255160320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,120812,054409,2248.933,-15804.004,13,3.2,32,10.1