version: 66.04
glider: 512
mission: 1
dive: 28
start: 12 16 110 0 3 57
data:
$ID,512
$MISSION,1
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$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,266
$T_MISSION,460
$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,470
$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,-3627.9402
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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
$GPS1,235516,2148.371,-15809.260,13,3.7,32,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-75.0
$GPS2,000307,2148.402,-15809.263,42,0.9,42,9.9
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.021,0.259
$KALMAN_X,11752.2,-4542.9,-24.3,-4155.2,6021.2
$KALMAN_Y,-29633.3,8679.9,187.3,35828.2,-17420.3
$MHEAD_RNG_PITCHd_Wd,354.7,106007,-17.5,-10.025
$D_GRID,800
$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,14,-0.88,-146.0,0.0,0.0,0,79,0.00,0.00,-62.62,0.000,2,0.000,0.000,52,2419,3103
$GC,81,-0.88,-146.0,3.7,-8.2,8,114,11.50,2.33,-14.73,0.000,4,0.285,0.088,2432,3801,3945
$GC,336,-0.88,-146.0,136.1,-41.0,34,346,0.00,2.12,0.00,0.000,6,0.000,0.031,2440,2411,3947
$GC,612,-0.88,-146.0,251.5,-39.5,52,616,0.00,2.35,0.00,0.000,4,0.000,0.085,2431,3792,3948
$GC,717,-0.88,-146.0,290.2,-34.4,54,723,0.00,2.10,0.00,0.000,6,0.000,0.030,2439,2398,3948
$GC,991,-0.88,-146.0,377.8,-31.9,61,995,0.00,2.35,0.00,0.000,4,0.000,0.084,2429,3792,3947
$GC,1106,-0.88,-146.0,413.8,-27.4,63,1111,0.00,2.12,0.00,0.000,6,0.000,0.031,2437,2394,3947
$GC,1362,-0.88,-146.0,491.0,-30.1,70,1366,0.00,2.38,0.00,0.000,4,0.000,0.084,2428,3806,3946
$GC,1528,-0.88,-146.0,537.4,-26.0,73,1534,0.00,2.12,0.00,0.000,6,0.000,0.032,2436,2413,3945
$GC,1784,-0.88,-146.0,607.2,-27.0,80,1788,0.00,2.33,0.00,0.000,4,0.000,0.084,2427,3794,3943
$GC,1934,-0.88,-146.0,648.5,-26.8,83,1939,0.00,2.10,0.00,0.000,6,0.000,0.035,2427,2401,3942
$GC,2206,-0.88,-146.0,725.9,-28.4,90,2210,0.00,2.35,0.00,0.000,4,0.000,0.085,2416,3794,3939
$GC,2368,-0.88,-146.0,769.2,-24.6,93,2373,0.08,2.12,0.00,0.000,6,0.207,0.035,2442,2401,3937
$STATE,2505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2505,begin apogee
$GC,2509,-0.32,0.0,802.7,24.2,97,2633,0.68,0.00,121.25,1.192,6,0.204,0.000,2626,2304,3347
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2635,0.88,146.0,812.9,0.0,100,2770,1.30,2.42,126.85,1.163,4,0.144,0.064,3000,3693,2750
$GC,2831,1.00,246.2,819.4,5.4,104,2927,0.12,2.22,87.75,1.137,6,0.092,0.036,3058,2294,2342
$GC,3168,1.00,246.2,743.5,26.3,113,3172,0.00,2.17,0.00,0.000,4,0.000,0.039,3068,895,2333
$GC,3212,1.00,246.2,732.2,24.1,114,3216,0.00,2.25,0.00,0.000,6,0.000,0.057,3067,2284,2332
$GC,3501,1.00,246.2,660.8,24.7,121,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2283,2330
$GC,3743,1.00,246.2,605.0,22.8,127,3747,0.00,2.33,0.00,0.000,4,0.000,0.064,3068,3720,2327
$GC,3826,1.00,246.2,584.4,24.8,128,3833,0.00,2.17,0.00,0.000,6,0.000,0.038,3077,2315,2327
$GC,4076,1.00,246.2,528.1,22.2,135,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2310,2325
$GC,4320,1.00,246.2,477.3,20.5,141,4324,0.00,2.28,0.00,0.000,4,0.000,0.064,3078,3713,2323
$GC,4335,1.00,246.2,473.8,20.0,141,4341,0.00,2.17,0.00,0.000,6,0.000,0.038,3088,2302,2323
$GC,4602,1.00,246.2,418.6,20.6,148,4606,0.00,2.28,0.00,0.000,4,0.000,0.063,3083,3713,2322
$GC,4656,1.00,246.2,406.4,22.3,149,4662,0.10,2.17,0.00,0.000,6,0.277,0.038,3070,2302,2321
$GC,4935,1.00,246.2,350.8,20.0,156,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2296,2321
$GC,5177,1.00,246.2,306.8,17.8,162,5181,0.00,2.30,0.00,0.000,4,0.000,0.063,3067,3721,2320
$GC,5294,1.00,246.2,286.7,15.2,164,5299,0.00,2.17,0.00,0.000,6,0.000,0.038,3077,2293,2320
$GC,5557,1.00,246.2,248.1,15.1,171,5562,0.00,2.30,0.00,0.000,4,0.000,0.063,3077,3720,2319
$GC,5572,1.00,246.2,245.8,13.3,171,5577,0.00,2.15,0.00,0.000,6,0.000,0.036,3086,2310,2319
$GC,5839,1.00,246.2,211.0,13.2,178,5843,0.00,2.28,0.00,0.000,4,0.000,0.062,3083,3722,2319
$GC,5854,1.00,246.2,209.0,13.4,178,5860,0.10,2.17,0.00,0.000,6,0.268,0.035,3069,2297,2318
$GC,6114,1.00,246.2,176.3,13.4,195,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2292,2318
$GC,6370,1.08,304.2,149.7,7.3,219,6421,0.00,2.15,44.10,0.753,4,0.000,0.037,3079,888,2107
$GC,6623,1.08,304.2,115.5,13.4,241,6631,0.00,2.25,0.00,0.000,6,0.000,0.047,3079,2304,2100
$GC,6885,1.08,304.2,80.6,15.2,266,6888,0.00,2.15,0.00,0.000,4,0.000,0.035,3089,883,2099
$GC,7038,1.08,304.2,61.4,13.7,280,7042,0.00,2.20,0.00,0.000,6,0.000,0.048,3083,2301,2100
$GC,7300,1.08,304.2,22.0,12.8,309,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2301,2099
$STATE,7434,end climb,SURFACE_DEPTH_REACHED
$STATE,7434,begin surface coast
$FINISH,0.0,1.023420
$STATE,7452,end surface coast,CONTROL_FINISHED_OK
$STATE,7452,begin surface
$SM_CCo,7467,76.82,0.585,0,0,1429,470.23
$SM_GC,1.16,0.00,0.00,76.82,0.000,0.000,0.585,46,2429,1429,-8.41,0.82,470.23
$IRIDIUM_FIX,2136.49,-15810.62,100300,212118
$TT8_MAMPS,0.024544
$HUMID,1703
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.0,8.541
$10V_AH,10.7,4.034
$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,22.225,71.650,379.950,76.825,0.000,29.331,35.338,292.500,0.250,0.000,0.000,43.021,718.924,4966.917,496.246,1403.717,436.763,33.327,1095.782,0.000,1365.266,0.000,0.543,0.000
$DEVICE_MAMPS,284.557,88.205,1191.918,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,227.409,521.724,537.908,113.499,490.178,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28856,337
$CAP_FILE_SIZE,70714,0
$CFSIZE,260165632,258560000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,161210,021026,2149.403,-15809.017,11,2.0,12,9.9