version: 66.04
glider: 512
mission: 3
dive: 82
start: 8 13 112 4 59 23
data:
$ID,512
$MISSION,3
$DIVE,82
$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,130
$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,-51942.996
$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,2650
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,37
$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
$GPS1,045245,2250.297,-15804.019,14,2.9,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-79.5
$GPS2,045845,2250.289,-15804.062,13,2.2,32,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.185,-0.158
$KALMAN_X,-162917.7,1269.3,694.0,158381.4,-6109.0
$KALMAN_Y,24748.9,31.8,268.5,-22959.8,1341.3
$MHEAD_RNG_PITCHd_Wd,120.3,12002,-18.9,-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,-0.79,-126.5,0.0,0.0,0,98,0.00,0.00,-79.45,0.000,6,0.000,0.000,20,2603,3157
$GC,103,-0.79,-126.5,5.0,-11.2,10,120,8.73,1.98,0.00,0.000,4,0.210,0.031,2330,3913,3158
$GC,155,-0.79,-126.5,35.0,-49.5,17,158,0.00,1.88,0.00,0.000,6,0.000,0.026,2335,2640,3159
$GC,418,-0.79,-126.5,110.7,-24.7,42,421,0.00,2.03,0.00,0.000,4,0.000,0.025,2335,1234,3160
$GC,476,-0.79,-126.5,123.4,-20.1,47,479,0.00,2.15,0.00,0.000,6,0.000,0.042,2333,2640,3161
$GC,738,-0.79,-126.5,178.0,-20.2,72,742,0.00,2.03,0.00,0.000,4,0.000,0.024,2333,1228,3162
$GC,763,-0.79,-126.5,182.8,-20.6,74,766,0.00,2.15,0.00,0.000,6,0.000,0.040,2331,2650,3162
$GC,1019,-0.79,-126.5,229.1,-17.2,87,1022,0.00,2.05,0.00,0.000,4,0.000,0.024,2331,1226,3163
$GC,1154,-0.79,-126.5,247.3,-12.8,90,1157,0.00,2.17,0.00,0.000,6,0.000,0.038,2320,2661,3163
$GC,1429,-0.79,-126.5,291.1,-16.0,97,1432,0.00,2.05,0.00,0.000,4,0.000,0.024,2320,1230,3163
$GC,1463,-0.79,-126.5,296.2,-15.4,97,1466,0.00,2.15,0.00,0.000,6,0.000,0.038,2319,2658,3163
$GC,1717,-0.79,-126.5,333.8,-14.8,104,1720,0.00,2.05,0.00,0.000,4,0.000,0.025,2319,1228,3163
$GC,1830,-0.79,-126.5,349.5,-12.2,106,1834,0.12,2.15,0.00,0.000,6,0.127,0.041,2343,2649,3163
$GC,2084,-0.79,-126.5,380.6,-12.0,113,2087,0.00,1.90,0.00,0.000,4,0.000,0.048,2335,3907,3161
$GC,2139,-0.79,-126.5,387.0,-11.2,114,2142,0.00,1.83,0.00,0.000,6,0.000,0.024,2335,2629,3161
$GC,2417,-0.79,-126.5,417.9,-11.1,121,2420,0.00,1.98,0.00,0.000,4,0.000,0.026,2335,1243,3159
$GC,2434,-0.79,-126.5,420.0,-11.1,121,2438,0.00,2.15,0.00,0.000,6,0.000,0.042,2333,2663,3159
$GC,2704,-0.79,-126.5,450.4,-11.3,128,2707,0.00,1.88,0.00,0.000,4,0.000,0.049,2324,3901,3157
$GC,2732,-0.79,-126.5,453.7,-11.7,128,2735,0.00,1.83,0.00,0.000,6,0.000,0.025,2324,2657,3157
$GC,2992,-0.79,-126.5,485.1,-12.2,135,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2650,3155
$GC,3236,-0.79,-126.5,514.6,-12.3,141,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2650,3153
$GC,3476,-0.79,-126.5,543.9,-11.9,147,3479,0.00,1.92,0.00,0.000,4,0.000,0.051,2319,3900,3152
$GC,3520,-0.79,-126.5,549.0,-11.1,148,3523,0.00,1.80,0.00,0.000,6,0.000,0.027,2319,2654,3151
$GC,3806,-0.79,-126.5,582.7,-11.8,155,3810,0.00,2.05,0.00,0.000,4,0.000,0.030,2319,1238,3149
$GC,3861,-0.79,-126.5,589.0,-10.9,156,3864,0.00,2.17,0.00,0.000,6,0.000,0.048,2319,2650,3149
$STATE,3970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3970,begin apogee
$GC,3981,-0.27,0.0,601.4,11.2,159,4094,0.60,0.00,106.93,1.034,6,0.123,0.000,2514,2454,2640
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4099,0.79,126.5,605.7,0.0,162,4226,0.90,2.20,115.22,0.981,4,0.035,0.028,2879,1033,2123
$GC,4359,0.79,126.5,576.2,23.2,168,4363,0.00,2.22,0.00,0.000,6,0.000,0.038,2877,2461,2116
$GC,4630,0.79,126.5,512.8,23.5,175,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2461,2113
$GC,4874,0.79,126.5,460.2,21.2,181,4877,0.00,2.10,0.00,0.000,4,0.000,0.030,2887,1041,2111
$GC,4891,0.79,126.5,456.5,21.1,181,4895,0.12,2.17,0.00,0.000,6,0.220,0.041,2860,2461,2111
$GC,5156,0.79,126.5,404.9,19.5,188,5159,0.00,2.10,0.00,0.000,4,0.000,0.029,2869,1034,2110
$GC,5200,0.79,126.5,396.6,19.3,189,5203,0.00,2.17,0.00,0.000,6,0.000,0.040,2862,2462,2109
$GC,5483,0.79,126.5,342.2,19.1,196,5486,0.00,2.15,0.00,0.000,4,0.000,0.046,2863,3861,2108
$GC,5656,0.79,126.5,310.2,17.7,200,5659,0.00,2.08,0.00,0.000,6,0.000,0.028,2871,2449,2106
$GC,5942,0.79,126.5,271.6,13.0,207,5945,0.00,2.05,0.00,0.000,4,0.000,0.030,2882,1039,2106
$GC,6189,0.79,126.5,245.0,10.1,212,6193,0.00,2.15,0.00,0.000,6,0.000,0.038,2875,2464,2105
$GC,6443,0.79,126.5,216.7,11.5,219,6446,0.00,2.08,0.00,0.000,4,0.000,0.028,2885,1032,2105
$GC,6693,0.82,153.2,193.4,8.6,227,6720,0.00,2.15,20.38,0.748,6,0.000,0.038,2876,2465,2014
$GC,6974,0.82,153.2,153.9,14.6,253,6977,0.00,2.08,0.00,0.000,4,0.000,0.028,2885,1038,2010
$GC,7185,0.82,153.2,123.1,15.0,272,7192,0.00,2.15,0.00,0.000,6,0.000,0.038,2876,2443,2010
$GC,7443,0.82,153.2,88.7,12.9,297,7446,0.00,2.15,0.00,0.000,4,0.000,0.044,2875,3860,2010
$GC,7584,0.82,153.2,68.2,13.8,310,7587,0.00,2.05,0.00,0.000,6,0.000,0.025,2884,2434,2010
$GC,7848,0.85,177.7,44.8,8.7,335,7875,0.00,2.20,21.08,0.597,4,0.000,0.041,2875,3861,1913
$GC,7901,0.85,177.7,39.2,12.9,339,7904,0.00,2.05,0.00,0.000,6,0.000,0.025,2884,2456,1913
$STATE,8147,end climb,SURFACE_DEPTH_REACHED
$STATE,8147,begin surface coast
$FINISH,0.3,1.023443
$STATE,8163,end surface coast,CONTROL_FINISHED_OK
$STATE,8163,begin surface
$SM_CCo,8186,103.80,0.562,0,0,1089,380.21
$SM_GC,0.72,0.00,0.00,103.80,0.000,0.000,0.562,36,2678,1089,-8.01,0.79,380.21
$IRIDIUM_FIX,2241.69,-15806.70,071101,020231
$TT8_MAMPS,0.047554
$HUMID,2063
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.10
$XPDR_PINGS,342
$24V_AH,24.3,10.476
$10V_AH,10.6,8.675
$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,17.850,83.175,263.600,103.800,0.000,30.656,32.785,138.400,85.500,0.000,0.000,33.201,0.000,5626.745,411.909,2040.333,559.241,33.347,1040.869,0.000,1806.177,0.000,0.543,0.000
$DEVICE_MAMPS,220.129,50.622,1033.916,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,259.485,890.491,915.871,129.081,717.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31943,384
$CAP_FILE_SIZE,73913,0
$CFSIZE,260165632,254738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,130812,071836,2249.925,-15803.929,31,1.1,32,10.1