version: 66.04
glider: 512
mission: 3
dive: 93
start: 8 14 112 12 56 11
data:
$ID,512
$MISSION,3
$DIVE,93
$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,-52145.258
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2580
$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,2640
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,124920,2250.998,-15807.801,38,2.3,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-78.0
$GPS2,125533,2251.008,-15807.895,19,2.2,38,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.221,0.121
$KALMAN_X,-197648.9,980.7,685.4,186862.9,-7211.0
$KALMAN_Y,35363.6,-271.7,162.0,-31828.8,2307.5
$MHEAD_RNG_PITCHd_Wd,51.2,17481,-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,-74.05,0.000,2,0.000,0.000,26,2684,2958
$GC,96,-0.77,-136.3,3.4,-6.5,9,113,8.73,1.80,-3.50,0.000,4,0.213,0.048,2320,3898,3158
$GC,232,-0.77,-136.3,51.4,-23.0,26,235,0.00,1.80,0.00,0.000,6,0.000,0.023,2319,2654,3159
$GC,496,-0.77,-136.3,122.9,-26.1,51,499,0.00,2.05,0.00,0.000,4,0.000,0.025,2321,1228,3161
$GC,532,-0.77,-136.3,131.9,-23.7,54,535,0.00,2.10,0.00,0.000,6,0.000,0.038,2313,2614,3161
$GC,796,-0.77,-136.3,194.5,-22.8,79,799,0.00,1.95,0.00,0.000,4,0.000,0.043,2302,3913,3161
$GC,904,-0.77,-136.3,218.1,-19.7,83,907,0.00,1.85,0.00,0.000,6,0.000,0.022,2304,2628,3161
$GC,1169,-0.77,-136.3,268.2,-18.8,90,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2621,3162
$GC,1413,-0.77,-136.3,311.4,-17.7,96,1416,0.00,1.95,0.00,0.000,4,0.000,0.042,2296,3906,3163
$GC,1452,-0.77,-136.3,318.5,-17.3,96,1457,0.12,1.83,0.00,0.000,6,0.134,0.022,2334,2627,3162
$GC,1700,-0.77,-136.3,353.8,-13.9,103,1703,0.00,1.98,0.00,0.000,4,0.000,0.025,2334,1234,3161
$GC,1728,-0.77,-136.3,357.8,-13.5,103,1731,0.00,2.12,0.00,0.000,6,0.000,0.040,2333,2646,3161
$GC,1988,-0.77,-136.3,390.8,-12.6,110,1991,0.00,1.92,0.00,0.000,4,0.000,0.047,2323,3925,3160
$GC,2021,-0.77,-136.3,395.1,-13.1,110,2024,0.00,1.85,0.00,0.000,6,0.000,0.023,2323,2630,3159
$GC,2275,-0.77,-136.3,426.2,-12.1,117,2278,0.00,1.95,0.00,0.000,4,0.000,0.047,2319,3902,3158
$GC,2319,-0.77,-136.3,431.5,-11.5,118,2322,0.00,1.83,0.00,0.000,6,0.000,0.024,2319,2640,3157
$GC,2606,-0.77,-136.3,466.2,-12.1,125,2609,0.00,2.00,0.00,0.000,4,0.000,0.027,2319,1242,3156
$GC,2644,-0.77,-136.3,470.9,-12.0,125,2652,0.00,2.15,0.00,0.000,6,0.000,0.042,2319,2637,3155
$GC,2893,-0.77,-136.3,501.1,-12.2,132,2896,0.00,1.95,0.00,0.000,4,0.000,0.048,2309,3905,3154
$GC,2964,-0.77,-136.3,509.9,-12.6,133,2967,0.00,1.83,0.00,0.000,6,0.000,0.025,2309,2637,3153
$GC,3223,-0.77,-136.3,544.3,-13.6,140,3226,0.00,1.98,0.00,0.000,4,0.000,0.049,2304,3909,3151
$GC,3305,-0.77,-136.3,554.8,-12.5,141,3310,0.00,1.85,0.00,0.000,6,0.000,0.026,2304,2641,3150
$GC,3554,-0.77,-136.3,585.6,-12.2,148,3557,0.00,1.98,0.00,0.000,4,0.000,0.051,2303,3906,3149
$GC,3614,-0.77,-136.3,592.6,-11.3,149,3617,0.00,1.85,0.00,0.000,6,0.000,0.027,2303,2630,3148
$STATE,3680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3680,begin apogee
$GC,3691,-0.27,0.0,600.5,11.4,151,3808,0.57,0.00,115.30,1.034,6,0.120,0.000,2489,2386,2600
$STATE,3808,end apogee,CONTROL_FINISHED_OK
$STATE,3808,begin climb
$GC,3813,0.77,136.3,603.7,0.0,154,3947,0.90,2.15,123.15,0.993,4,0.038,0.028,2860,1006,2043
$GC,3996,0.77,136.3,586.1,25.5,158,4000,0.12,2.22,0.00,0.000,6,0.202,0.037,2835,2416,2038
$GC,4261,0.77,136.3,519.2,24.7,165,4264,0.00,2.17,0.00,0.000,4,0.000,0.044,2835,3818,2034
$GC,4321,0.77,136.3,503.5,25.8,166,4324,0.00,2.10,0.00,0.000,6,0.000,0.028,2844,2415,2033
$GC,4591,0.77,136.3,441.5,22.2,173,4594,0.00,2.10,0.00,0.000,4,0.000,0.031,2855,989,2031
$GC,4635,0.77,136.3,432.3,20.7,174,4638,0.00,2.17,0.00,0.000,6,0.000,0.040,2855,2409,2031
$GC,4918,0.77,136.3,374.8,20.1,181,4921,0.00,2.15,0.00,0.000,4,0.000,0.044,2850,3814,2030
$GC,4930,0.77,136.3,372.1,20.1,181,4933,0.00,2.10,0.00,0.000,6,0.000,0.028,2859,2394,2029
$GC,5206,0.77,136.3,314.9,20.8,188,5209,0.00,2.05,0.00,0.000,4,0.000,0.031,2870,986,2029
$GC,5346,0.77,136.3,284.5,21.8,191,5349,0.15,2.15,0.00,0.000,6,0.192,0.038,2834,2404,2028
$GC,5622,0.77,136.3,236.2,16.2,198,5625,0.00,2.15,0.00,0.000,4,0.000,0.044,2834,3811,2027
$GC,5639,0.77,136.3,234.0,13.4,198,5642,0.00,2.08,0.00,0.000,6,0.000,0.027,2843,2402,2027
$GC,5909,0.77,136.3,202.3,11.6,205,5912,0.00,2.05,0.00,0.000,4,0.000,0.029,2855,976,2027
$GC,5998,0.77,136.3,192.6,11.1,210,6001,0.00,2.15,0.00,0.000,6,0.000,0.038,2855,2402,2026
$GC,6262,0.77,136.3,154.9,15.6,235,6265,0.00,2.15,0.00,0.000,4,0.000,0.045,2850,3813,2026
$GC,6385,0.77,136.3,134.2,16.8,246,6394,0.00,2.10,0.00,0.000,6,0.000,0.027,2859,2396,2025
$GC,6643,0.77,136.3,98.6,12.7,271,6646,0.00,2.03,0.00,0.000,4,0.000,0.027,2870,984,2025
$GC,6754,0.77,136.3,85.3,11.6,281,6758,0.15,2.12,0.00,0.000,6,0.186,0.037,2833,2407,2025
$GC,7017,0.82,177.2,59.2,8.0,305,7058,0.00,2.12,31.58,0.631,4,0.000,0.026,2843,981,1875
$GC,7074,0.82,177.2,53.8,10.3,309,7077,0.00,2.15,0.00,0.000,6,0.000,0.035,2836,2403,1874
$GC,7333,0.82,177.2,17.2,14.2,342,7339,0.00,2.08,0.00,0.000,4,0.000,0.026,2845,980,1873
$GC,7349,0.82,177.2,15.0,13.3,344,7358,0.00,2.15,0.00,0.000,6,0.000,0.036,2845,2394,1872
$STATE,7433,end climb,SURFACE_DEPTH_REACHED
$STATE,7433,begin surface coast
$FINISH,-0.1,1.023358
$STATE,7454,end surface coast,CONTROL_FINISHED_OK
$STATE,7455,begin surface
$SM_CCo,7477,97.82,0.572,0,0,1050,380.21
$SM_GC,0.74,0.00,0.00,97.82,0.000,0.000,0.572,44,2665,1050,-7.92,0.71,380.21
$IRIDIUM_FIX,2241.69,-15806.70,081101,101038
$TT8_MAMPS,0.046787
$HUMID,2070
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,24.4,11.737
$10V_AH,10.6,10.011
$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,18.000,89.900,270.025,97.825,0.000,24.683,33.152,149.487,0.750,0.000,0.000,39.439,0.000,5079.933,420.623,1876.419,559.903,33.342,994.004,0.000,1641.928,0.000,0.543,0.000
$DEVICE_MAMPS,213.226,50.622,1033.916,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,245.489,868.460,896.431,129.718,734.619,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28885,364
$CAP_FILE_SIZE,71088,0
$CFSIZE,260165632,254205952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,3
$GPS,140812,150327,2251.627,-15807.794,10,4.0,29,10.1