version: 66.04
glider: 512
mission: 1
dive: 6
start: 12 15 110 1 57 15
data:
$ID,512
$MISSION,1
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,250
$D_ABORT,330
$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,83
$T_MISSION,160
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,500
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3172.4917
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2737
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2540
$C_ROLL_CLIMB,2436
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3247
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,014855,2141.040,-15810.745,11,1.8,28,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.8
$GPS2,015620,2141.049,-15810.734,13,1.9,13,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.085,0.246
$KALMAN_X,599.2,25.1,-23.2,-108.3,486.6
$KALMAN_Y,-1223.0,-701.6,-290.8,3660.1,-825.0
$MHEAD_RNG_PITCHd_Wd,331.0,119849,-17.6,-10.040
$D_GRID,250
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-70.82,0.000,2,0.000,0.000,47,2568,3053
$GC,88,-0.88,-146.0,3.6,-8.2,9,121,10.62,2.05,-14.65,0.000,4,0.266,0.071,2433,3884,3843
$GC,343,-0.88,-146.0,112.2,-36.6,36,352,0.00,1.98,0.00,0.000,6,0.000,0.028,2439,2568,3844
$GC,612,-0.88,-146.0,218.9,-37.7,59,616,0.00,2.10,0.00,0.000,4,0.000,0.033,2449,1137,3845
$GC,689,-0.88,-146.0,245.1,-28.2,60,695,0.00,2.22,0.00,0.000,6,0.000,0.062,2440,2515,3845
$STATE,741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,741,begin apogee
$GC,745,-0.32,0.0,261.3,31.2,62,864,0.73,0.00,112.82,0.742,6,0.220,0.000,2625,2408,3247
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,864,begin climb
$GC,866,0.88,146.0,280.1,0.0,65,990,1.38,2.15,115.12,0.714,4,0.176,0.041,3018,1051,2651
$GC,1242,1.03,268.9,273.9,4.3,73,1346,0.12,2.22,97.62,0.720,6,0.115,0.058,3058,2430,2149
$GC,1630,1.03,268.9,206.5,19.9,83,1633,0.00,2.08,0.00,0.000,4,0.000,0.040,3069,1059,2141
$GC,1878,1.03,268.9,163.5,15.7,102,1887,0.00,2.20,0.00,0.000,6,0.000,0.058,3067,2434,2140
$GC,2141,1.03,268.9,120.3,15.6,127,2145,0.00,2.08,0.00,0.000,4,0.000,0.038,3076,1044,2138
$GC,2275,1.03,268.9,102.8,13.4,139,2279,0.00,2.20,0.00,0.000,6,0.000,0.054,3067,2456,2138
$GC,2537,1.03,268.9,67.6,12.5,163,2541,0.00,2.10,0.00,0.000,4,0.000,0.035,3076,1051,2136
$GC,2550,1.03,268.9,65.9,12.7,164,2554,0.00,2.15,0.00,0.000,6,0.000,0.054,3076,2436,2137
$GC,2811,1.03,268.9,33.7,11.8,188,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2436,2136
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.0,1.014673
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3084,102.97,0.562,0,0,1207,500.16
$SM_GC,0.85,0.00,0.00,102.97,0.000,0.000,0.562,47,2570,1207,-8.41,0.85,500.16
$IRIDIUM_FIX,2134.17,-15810.62,100300,010136
$TT8_MAMPS,0.023777
$HUMID,1714
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,3
$24V_AH,24.8,5.798
$10V_AH,10.9,2.923
$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,20.600,25.775,325.575,102.975,0.000,52.284,69.189,192.773,0.750,0.000,0.000,13.277,470.163,1377.983,449.836,987.782,368.759,33.312,831.010,0.000,987.026,0.000,0.546,0.000
$DEVICE_MAMPS,266.149,70.564,741.689,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,156.597,478.934,490.887,115.627,524.989,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19460,234
$CAP_FILE_SIZE,40869,0
$CFSIZE,260165632,259207168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,151210,025136,2141.245,-15810.677,41,0.9,41,9.9