version: 66.04
glider: 512
mission: 3
dive: 74
start: 8 12 112 8 33 15
data:
$ID,512
$MISSION,3
$DIVE,74
$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,-51772.266
$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,50
$R_STBD_OVSHOOT,47
$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
$GPS1,082559,2249.118,-15804.019,37,1.0,44,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-74.1
$GPS2,083237,2249.112,-15804.079,12,1.8,12,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.205,-0.146
$KALMAN_X,-143088.2,1151.4,329.2,139009.8,-5756.7
$KALMAN_Y,19714.4,-208.3,-703.2,-18871.9,1453.6
$MHEAD_RNG_PITCHd_Wd,115.4,10321,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.77,-136.3,0.0,0.0,0,120,0.00,0.00,-98.78,0.000,2,0.000,0.000,22,2653,2980
$GC,125,-0.77,-136.3,3.1,-5.6,12,143,8.73,2.10,-3.92,0.000,4,0.209,0.036,2352,1199,3198
$GC,158,-0.77,-136.3,20.4,-47.6,16,166,0.00,2.17,0.00,0.000,6,0.000,0.036,2344,2609,3199
$GC,425,-0.77,-136.3,94.8,-22.7,43,428,0.00,1.95,0.00,0.000,4,0.000,0.043,2334,3900,3199
$GC,515,-0.77,-136.3,113.1,-17.2,51,518,0.00,1.85,0.00,0.000,6,0.000,0.021,2339,2606,3199
$GC,778,-0.77,-136.3,165.7,-19.7,76,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2599,3200
$GC,1044,-0.77,-136.3,213.8,-16.9,96,1047,0.00,1.95,0.00,0.000,4,0.000,0.025,2341,1232,3200
$GC,1077,-0.77,-136.3,219.8,-15.8,96,1080,0.00,2.12,0.00,0.000,6,0.000,0.038,2333,2639,3200
$GC,1331,-0.77,-136.3,260.8,-15.9,103,1334,0.00,1.90,0.00,0.000,4,0.000,0.045,2324,3903,3200
$GC,1386,-0.77,-136.3,269.5,-14.7,104,1389,0.00,1.83,0.00,0.000,6,0.000,0.022,2323,2618,3200
$GC,1664,-0.77,-136.3,309.0,-14.1,111,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2611,3200
$GC,1904,-0.77,-136.3,340.9,-13.1,117,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2611,3199
$GC,2146,-0.77,-136.3,373.6,-13.7,123,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2611,3198
$GC,2388,-0.77,-136.3,406.7,-13.6,129,2391,0.00,2.00,0.00,0.000,4,0.000,0.048,2319,3908,3195
$GC,2437,-0.77,-136.3,413.1,-12.4,130,2440,0.12,1.85,0.00,0.000,6,0.127,0.025,2355,2615,3195
$GC,2718,-0.77,-136.3,436.3,-7.6,137,2721,0.00,2.00,0.00,0.000,4,0.000,0.049,2346,3906,3193
$GC,2741,-0.77,-136.3,438.1,-7.4,137,2744,0.00,1.85,0.00,0.000,6,0.000,0.026,2346,2639,3193
$GC,3006,-0.77,-136.3,459.7,-8.4,144,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2633,3191
$GC,3248,-0.77,-136.3,481.2,-9.0,150,3251,0.00,1.98,0.00,0.000,4,0.000,0.051,2346,3906,3188
$GC,3295,-0.77,-136.3,485.1,-8.2,151,3298,0.00,1.85,0.00,0.000,6,0.000,0.027,2346,2633,3188
$GC,3581,-0.77,-136.3,512.1,-9.5,158,3584,0.00,1.98,0.00,0.000,4,0.000,0.052,2346,3900,3186
$GC,3609,-0.77,-136.3,514.9,-10.0,158,3612,0.00,1.88,0.00,0.000,6,0.000,0.037,2346,2616,3186
$GC,3869,-0.77,-136.3,541.8,-10.6,165,3872,0.00,2.03,0.00,0.000,4,0.000,0.052,2338,3909,3184
$GC,3886,-0.77,-136.3,543.8,-10.6,165,3889,0.00,1.88,0.00,0.000,6,0.000,0.028,2338,2618,3184
$GC,4156,-0.77,-136.3,573.2,-10.9,172,4160,0.00,2.03,0.00,0.000,4,0.000,0.031,2338,1218,3182
$GC,4174,-0.77,-136.3,575.2,-11.1,172,4177,0.00,2.17,0.00,0.000,6,0.000,0.046,2333,2642,3182
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4409,-0.27,0.0,601.1,11.4,178,4526,0.55,0.00,114.62,1.080,6,0.117,0.000,2514,2395,2640
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4531,0.77,136.3,607.2,0.0,181,4668,0.88,2.20,125.55,1.087,4,0.035,0.035,2873,1007,2085
$GC,4781,0.77,136.3,581.6,25.0,187,4784,0.00,2.20,0.00,0.000,6,0.000,0.041,2873,2402,2079
$GC,5067,0.77,136.3,509.6,24.7,194,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2402,2075
$GC,5309,0.77,136.3,450.4,24.3,200,5312,0.00,2.20,0.00,0.000,4,0.000,0.048,2873,3822,2073
$GC,5433,0.77,136.3,420.0,23.0,202,5439,0.15,2.10,0.00,0.000,6,0.227,0.028,2851,2405,2071
$GC,5682,0.77,136.3,368.7,20.2,209,5685,0.00,2.20,0.00,0.000,4,0.000,0.044,2850,3826,2071
$GC,5747,0.77,136.3,355.7,20.1,210,5751,0.00,2.12,0.00,0.000,6,0.000,0.028,2859,2403,2071
$GC,6012,0.77,136.3,307.7,17.1,217,6015,0.00,2.08,0.00,0.000,4,0.000,0.031,2870,986,2070
$GC,6062,0.77,136.3,299.7,15.5,218,6065,0.00,2.17,0.00,0.000,6,0.000,0.040,2870,2416,2070
$GC,6343,0.77,136.3,253.3,15.5,225,6346,0.00,2.15,0.00,0.000,4,0.000,0.044,2870,3825,2069
$GC,6461,0.77,136.3,232.9,15.4,227,6464,0.00,2.10,0.00,0.000,6,0.000,0.028,2880,2398,2068
$GC,6715,0.77,136.3,197.7,13.8,234,6719,0.12,2.05,0.00,0.000,4,0.228,0.028,2863,992,2069
$GC,6963,0.80,157.3,173.5,9.0,257,6989,0.00,2.15,16.33,0.806,6,0.000,0.037,2863,2410,1997
$GC,7243,0.80,157.3,133.3,15.3,283,7247,0.00,2.10,0.00,0.000,4,0.000,0.029,2871,979,1995
$GC,7375,0.80,157.3,111.7,16.4,295,7378,0.00,2.15,0.00,0.000,6,0.000,0.038,2871,2400,1994
$GC,7639,0.83,182.7,76.2,8.7,320,7667,0.00,2.17,22.20,0.723,4,0.000,0.043,2871,3812,1894
$GC,7853,0.83,182.7,48.8,14.0,339,7861,0.00,2.12,0.00,0.000,6,0.000,0.025,2881,2399,1892
$GC,8112,0.83,182.7,15.0,14.3,374,8120,0.00,2.08,0.00,0.000,4,0.000,0.026,2891,976,1892
$STATE,8191,end climb,SURFACE_DEPTH_REACHED
$STATE,8191,begin surface coast
$FINISH,-0.1,1.023449
$STATE,8207,end surface coast,CONTROL_FINISHED_OK
$STATE,8207,begin surface
$SM_CCo,8232,92.53,0.582,0,0,1090,380.21
$SM_GC,0.85,0.00,0.00,92.53,0.000,0.000,0.582,37,2643,1090,-8.01,0.40,380.21
$IRIDIUM_FIX,2239.35,-15806.70,061101,060610
$TT8_MAMPS,0.048321
$HUMID,2078
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.90
$XPDR_PINGS,388
$24V_AH,24.2,9.495
$10V_AH,10.6,7.822
$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,17.850,78.600,278.700,92.525,0.000,31.520,38.658,195.760,97.000,0.000,0.000,12.106,0.000,5730.862,428.985,1918.332,631.786,33.339,1031.475,0.000,1721.286,0.000,0.545,0.000
$DEVICE_MAMPS,227.799,52.156,1086.839,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,264.432,922.429,951.567,136.491,734.038,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32018,392
$CAP_FILE_SIZE,71954,0
$CFSIZE,260165632,255074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,120812,105300,2248.710,-15803.997,12,1.8,30,10.1