version: 66.04
glider: 512
mission: 1
dive: 77
start: 12 24 110 5 11 50
data:
$ID,512
$MISSION,1
$DIVE,77
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,840
$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,166
$T_MISSION,900
$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,420
$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,-6850.1333
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2620
$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,2490
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,34
$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
$GPS1,050655,2230.847,-15809.433,10,1.1,15,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-78.3
$GPS2,051056,2230.830,-15809.436,12,1.8,12,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.259,0.024
$KALMAN_X,-81050.7,-1958.9,178.2,85548.0,-3493.9
$KALMAN_Y,-79416.2,183.9,259.1,172609.4,-1714.2
$MHEAD_RNG_PITCHd_Wd,74.8,30796,-17.6,-10.040
$D_GRID,500
$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,13,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,79,0.00,0.00,-62.22,0.000,2,0.000,0.000,51,2510,3151
$GC,81,-0.88,-146.0,3.1,-3.4,8,113,10.40,2.17,-13.15,0.000,4,0.272,0.041,2332,1067,3844
$GC,168,-0.88,-146.0,46.3,-50.0,20,173,0.00,2.42,0.00,0.000,6,0.000,0.095,2323,2473,3844
$GC,429,-0.88,-146.0,195.5,-53.2,44,433,0.00,2.38,0.00,0.000,4,0.000,0.082,2312,3911,3845
$GC,686,-0.88,-146.0,325.6,-45.7,50,691,0.00,2.12,0.00,0.000,6,0.000,0.028,2317,2488,3846
$GC,942,-0.88,-146.0,443.9,-46.4,57,947,0.00,2.50,0.00,0.000,4,0.000,0.109,2307,3897,3846
$GC,1053,-0.88,-146.0,498.5,-46.3,59,1057,0.00,2.10,0.00,0.000,6,0.000,0.030,2314,2488,3846
$STATE,1062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1062,begin apogee
$GC,1066,-0.32,0.0,503.2,43.9,59,1185,0.80,0.00,116.18,0.922,6,0.251,0.000,2505,2479,3246
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1187,0.88,146.0,528.0,0.0,62,1315,1.52,2.25,119.53,0.927,4,0.208,0.031,2903,1041,2650
$GC,1415,0.98,225.9,529.8,6.3,67,1487,0.00,2.42,66.35,0.930,6,0.000,0.074,2903,2443,2326
$GC,1766,0.98,225.9,492.4,11.2,76,1770,0.00,2.45,0.00,0.000,4,0.000,0.091,2903,3862,2317
$GC,1804,0.98,225.9,487.4,12.9,77,1808,0.00,2.15,0.00,0.000,6,0.000,0.035,2914,2449,2317
$GC,2092,0.98,225.9,455.9,10.5,84,2096,0.00,2.12,0.00,0.000,4,0.000,0.036,2915,1040,2313
$GC,2164,1.00,245.0,449.1,9.2,85,2186,0.00,2.35,15.38,0.843,6,0.000,0.072,2915,2452,2248
$GC,2471,1.00,245.0,413.9,11.8,93,2475,0.00,2.40,0.00,0.000,4,0.000,0.093,2915,3863,2241
$GC,2511,1.00,245.0,408.7,14.1,94,2514,0.00,2.15,0.00,0.000,6,0.000,0.036,2926,2445,2240
$GC,2799,1.00,245.0,371.1,12.7,101,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2439,2239
$GC,3042,1.00,245.0,342.1,11.6,107,3046,0.00,2.10,0.00,0.000,4,0.000,0.035,2938,1033,2237
$GC,3223,1.01,247.7,324.5,9.9,111,3228,0.00,2.35,0.00,0.000,6,0.000,0.078,2931,2452,2237
$GC,3506,1.01,247.7,295.4,10.3,118,3509,0.00,2.12,0.00,0.000,4,0.000,0.036,2940,1032,2235
$GC,3650,1.05,280.0,282.0,8.5,121,3684,0.00,2.38,27.98,0.823,6,0.000,0.082,2940,2438,2105
$GC,3925,1.05,280.0,250.3,11.6,128,3929,0.00,2.12,0.00,0.000,4,0.000,0.036,2951,1028,2099
$GC,3980,1.05,280.0,244.4,10.6,129,3985,0.00,2.40,0.00,0.000,6,0.000,0.072,2944,2453,2099
$GC,4260,1.05,280.0,213.1,11.7,136,4264,0.00,2.15,0.00,0.000,4,0.000,0.036,2954,1025,2097
$GC,4287,1.05,280.0,210.1,11.2,136,4291,0.00,2.38,0.00,0.000,6,0.000,0.074,2954,2452,2096
$GC,4547,1.05,280.0,178.6,11.8,154,4550,0.00,2.10,0.00,0.000,4,0.000,0.035,2964,1037,2096
$GC,4658,1.05,280.0,165.0,11.9,164,4662,0.00,2.33,0.00,0.000,6,0.000,0.074,2964,2458,2096
$GC,4919,1.05,280.0,133.7,11.0,188,4922,0.00,2.12,0.00,0.000,4,0.000,0.035,2973,1029,2096
$GC,4997,1.05,280.0,125.2,11.9,195,5001,0.00,2.33,0.00,0.000,6,0.000,0.073,2970,2451,2096
$GC,5260,1.07,296.1,93.3,9.3,219,5280,0.00,0.00,13.18,0.637,6,0.000,0.000,2971,2452,2039
$GC,5534,1.11,331.8,69.8,8.4,245,5573,0.00,2.40,30.12,0.644,4,0.000,0.083,2970,3859,1893
$GC,5589,1.11,331.8,64.6,10.6,249,5597,0.00,2.17,0.00,0.000,6,0.000,0.034,2980,2451,1892
$GC,5851,1.11,331.8,37.1,11.3,274,5855,0.00,2.10,0.00,0.000,4,0.000,0.032,2991,1026,1890
$GC,5945,1.12,338.9,27.4,9.7,284,5961,0.00,2.35,6.50,0.505,6,0.000,0.066,2986,2446,1866
$STATE,6147,end climb,SURFACE_DEPTH_REACHED
$STATE,6147,begin surface coast
$FINISH,0.2,1.023450
$STATE,6169,end surface coast,CONTROL_FINISHED_OK
$STATE,6170,begin surface
$SM_CCo,6185,38.45,0.588,0,0,1533,420.19
$SM_GC,2.19,0.00,0.00,38.45,0.000,0.000,0.588,51,2508,1533,-8.03,0.51,420.19
$IRIDIUM_FIX,2225.34,-15810.18,190300,030303
$TT8_MAMPS,0.023777
$HUMID,1728
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,17.151
$10V_AH,10.7,9.090
$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,20.750,67.975,395.200,38.450,0.000,24.710,38.297,104.991,0.500,0.000,0.000,12.329,687.573,3735.108,447.933,1358.539,250.822,33.347,1021.888,0.000,1353.758,0.000,0.544,0.000
$DEVICE_MAMPS,271.518,108.914,930.371,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,218.361,562.160,576.441,136.842,573.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25756,325
$CAP_FILE_SIZE,60947,0
$CFSIZE,260165632,255811584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,241210,065637,2230.389,-15809.039,30,1.3,30,10.0