version: 66.04
glider: 512
mission: 3
dive: 78
start: 8 12 112 19 1 15
data:
$ID,512
$MISSION,3
$DIVE,78
$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,-51857.953
$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,55
$R_STBD_OVSHOOT,31
$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
$GPS1,185324,2249.377,-15804.440,37,1.7,38,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-75.6
$GPS2,190037,2249.412,-15804.522,15,1.1,15,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.031
$KALMAN_X,-152737.6,166.5,178.8,149044.1,-4924.6
$KALMAN_Y,22005.0,-302.2,-467.4,-20758.5,1670.8
$MHEAD_RNG_PITCHd_Wd,72.9,11244,-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,-136.3,0.0,0.0,0,119,0.00,0.00,-102.30,0.000,2,0.000,0.000,22,2642,3128
$GC,125,-0.77,-136.3,3.8,-7.5,12,143,8.68,0.00,-1.17,0.000,6,0.207,0.000,2342,2644,3197
$GC,401,-0.77,-136.3,96.1,-24.4,41,404,0.00,1.95,0.00,0.000,4,0.000,0.044,2335,3916,3199
$GC,479,-0.77,-136.3,112.1,-17.0,48,482,0.00,1.90,0.00,0.000,6,0.000,0.022,2340,2598,3199
$GC,743,-0.77,-136.3,162.4,-18.9,73,746,0.00,2.03,0.00,0.000,4,0.000,0.043,2332,3911,3199
$GC,768,-0.77,-136.3,167.5,-19.5,75,771,0.00,1.85,0.00,0.000,6,0.000,0.022,2332,2619,3199
$GC,1056,-0.77,-136.3,221.6,-17.8,94,1059,0.00,1.98,0.00,0.000,4,0.000,0.044,2322,3904,3200
$GC,1127,-0.77,-136.3,233.6,-15.3,95,1130,0.00,1.83,0.00,0.000,6,0.000,0.021,2322,2618,3200
$GC,1386,-0.77,-136.3,275.4,-15.9,102,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2612,3200
$GC,1628,-0.77,-136.3,314.4,-16.2,108,1631,0.00,1.98,0.00,0.000,4,0.000,0.025,2325,1226,3199
$GC,1656,-0.77,-136.3,318.9,-15.3,108,1660,0.10,2.12,0.00,0.000,6,0.133,0.040,2347,2640,3199
$GC,1911,-0.77,-136.3,349.3,-11.4,115,1914,0.00,1.92,0.00,0.000,4,0.000,0.049,2346,3898,3198
$GC,1966,-0.77,-136.3,355.0,-9.2,116,1969,0.00,1.83,0.00,0.000,6,0.000,0.023,2346,2619,3197
$GC,2241,-0.77,-136.3,382.1,-9.8,123,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2612,3196
$GC,2483,-0.77,-136.3,406.8,-10.4,129,2486,0.00,2.00,0.00,0.000,4,0.000,0.050,2346,3902,3194
$GC,2554,-0.77,-136.3,414.4,-10.2,130,2557,0.00,1.83,0.00,0.000,6,0.000,0.025,2346,2633,3193
$GC,2813,-0.77,-136.3,442.3,-10.9,137,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2626,3192
$GC,3056,-0.77,-136.3,467.4,-10.1,143,3058,0.00,1.98,0.00,0.000,4,0.000,0.051,2346,3899,3189
$GC,3110,-0.77,-136.3,472.5,-8.7,144,3113,0.00,1.83,0.00,0.000,6,0.000,0.025,2345,2629,3189
$GC,3388,-0.77,-136.3,498.6,-9.6,151,3390,0.00,0.00,-0.08,0.000,6,0.000,0.000,2346,2622,3213
$GC,3628,-0.77,-136.3,521.9,-9.5,157,3631,0.00,2.00,0.00,0.000,4,0.000,0.030,2346,1230,3211
$GC,3656,-0.77,-136.3,524.6,-9.4,157,3659,0.00,2.15,0.00,0.000,6,0.000,0.045,2346,2633,3211
$GC,3916,-0.77,-136.3,548.8,-9.5,164,3919,0.00,1.92,0.00,0.000,4,0.000,0.052,2339,3893,3209
$GC,3971,-0.77,-136.3,553.9,-8.6,165,3974,0.00,1.83,0.00,0.000,6,0.000,0.027,2339,2631,3208
$GC,4246,-0.77,-136.3,581.8,-10.3,172,4249,0.00,2.00,0.00,0.000,4,0.000,0.052,2333,3906,3206
$GC,4291,-0.77,-136.3,586.3,-10.1,173,4294,0.00,1.88,0.00,0.000,6,0.000,0.028,2333,2632,3206
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4461,-0.27,0.0,603.4,10.5,177,4582,0.55,0.00,118.78,1.068,6,0.113,0.000,2515,2395,2641
$STATE,4582,end apogee,CONTROL_FINISHED_OK
$STATE,4583,begin climb
$GC,4587,0.77,136.3,608.4,0.0,180,4722,0.88,2.35,123.18,1.002,4,0.034,0.043,2866,3814,2083
$GC,4914,0.77,136.3,553.7,28.8,187,4918,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,2410,2076
$GC,5169,0.77,136.3,487.2,25.8,194,5172,0.00,2.12,0.00,0.000,4,0.000,0.031,2886,980,2073
$GC,5282,0.77,136.3,460.4,22.4,196,5286,0.15,2.20,0.00,0.000,6,0.220,0.039,2854,2418,2071
$GC,5537,0.77,136.3,404.2,22.3,203,5540,0.00,2.15,0.00,0.000,4,0.000,0.045,2850,3815,2071
$GC,5661,0.77,136.3,376.1,23.4,205,5669,0.00,2.15,0.00,0.000,6,0.000,0.028,2858,2389,2070
$GC,5910,0.77,136.3,321.9,21.1,212,5913,0.00,2.05,0.00,0.000,4,0.000,0.031,2869,982,2069
$GC,5927,0.77,136.3,318.4,21.3,212,5930,0.00,2.17,0.00,0.000,6,0.000,0.041,2869,2404,2068
$GC,6192,0.77,136.3,271.2,17.9,219,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2404,2068
$GC,6434,0.77,136.3,235.5,14.2,225,6437,0.00,2.08,0.00,0.000,4,0.000,0.030,2879,978,2068
$GC,6681,0.77,136.3,201.9,13.7,230,6684,0.00,2.17,0.00,0.000,6,0.000,0.040,2876,2413,2066
$GC,6942,0.77,136.3,167.2,14.0,252,6946,0.00,2.08,0.00,0.000,4,0.000,0.029,2885,982,2066
$GC,7162,0.77,136.3,141.8,12.9,272,7165,0.00,2.12,0.00,0.000,6,0.000,0.035,2876,2406,2066
$GC,7426,0.77,136.3,112.2,10.7,297,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2406,2066
$GC,7683,0.88,219.8,92.2,5.9,322,7753,0.00,0.00,64.78,0.669,6,0.000,0.000,2875,2406,1743
$GC,8008,0.88,219.8,38.5,19.3,352,8011,0.00,2.15,0.00,0.000,4,0.000,0.042,2876,3807,1738
$GC,8114,0.88,219.8,13.3,24.8,368,8122,0.00,2.10,0.00,0.000,6,0.000,0.025,2884,2385,1737
$STATE,8152,end climb,SURFACE_DEPTH_REACHED
$STATE,8152,begin surface coast
$FINISH,-0.1,1.023465
$STATE,8162,end surface coast,CONTROL_FINISHED_OK
$STATE,8163,begin surface
$SM_CCo,8186,66.62,0.563,0,0,1089,380.21
$SM_GC,0.83,0.00,0.00,66.62,0.000,0.000,0.563,40,2645,1089,-8.00,0.42,380.21
$IRIDIUM_FIX,2239.35,-15807.58,061101,161615
$TT8_MAMPS,0.047554
$HUMID,2114
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.50
$XPDR_PINGS,183
$24V_AH,24.3,10.028
$10V_AH,10.6,8.261
$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,17.650,69.475,306.725,66.625,0.000,29.348,33.872,229.238,45.750,0.000,0.000,15.367,0.000,5731.573,412.324,1896.323,631.942,33.343,1020.024,0.000,1686.930,0.000,0.544,0.000
$DEVICE_MAMPS,220.129,52.156,1067.664,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,254.041,869.750,902.246,276.399,649.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31926,377
$CAP_FILE_SIZE,71708,0
$CFSIZE,260165632,254906368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,120812,211931,2249.790,-15804.311,11,1.9,12,10.1