version: 66.04
glider: 512
mission: 1
dive: 100
start: 12 26 110 16 53 25
data:
$ID,512
$MISSION,1
$DIVE,100
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,740
$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,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,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,-7345.8281
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,164832,2241.833,-15757.077,11,1.7,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.3
$GPS2,165231,2241.812,-15757.027,12,1.7,12,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.126,0.227
$KALMAN_X,-89684.8,129.4,-315.3,113955.7,2418.8
$KALMAN_Y,-119067.1,1632.3,521.7,230859.7,-7644.3
$MHEAD_RNG_PITCHd_Wd,321.0,7787,-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,12,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,86,0.00,0.00,-69.93,0.000,2,0.000,0.000,46,2538,3037
$GC,89,-0.88,-146.0,3.5,-5.9,9,114,11.35,2.12,-9.10,0.000,4,0.266,0.042,2562,1138,3498
$GC,218,-0.88,-146.0,42.2,-24.8,27,222,0.00,2.50,0.00,0.000,6,0.000,0.101,2553,2545,3500
$GC,480,-0.88,-146.0,127.3,-29.2,51,484,0.00,2.38,0.00,0.000,4,0.000,0.102,2542,3913,3501
$GC,544,-0.88,-146.0,147.6,-26.2,56,554,0.00,2.03,0.00,0.000,6,0.000,0.028,2550,2560,3501
$GC,804,-0.88,-146.0,212.5,-25.7,78,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2553,3503
$GC,1047,-0.88,-146.0,270.7,-23.5,84,1051,0.00,2.38,0.00,0.000,4,0.000,0.107,2541,3899,3503
$GC,1068,-0.88,-146.0,275.9,-23.5,84,1073,0.00,2.05,0.00,0.000,6,0.000,0.032,2547,2536,3503
$GC,1332,-0.88,-146.0,328.9,-19.9,91,1336,0.00,2.40,0.00,0.000,4,0.000,0.108,2537,3899,3503
$GC,1426,-0.88,-146.0,348.0,-19.2,93,1430,0.00,1.98,0.00,0.000,6,0.000,0.030,2545,2550,3503
$GC,1703,-0.88,-146.0,398.3,-18.0,100,1707,0.00,2.40,0.00,0.000,4,0.000,0.110,2536,3899,3503
$GC,1780,-0.88,-146.0,413.5,-18.2,101,1787,0.00,2.00,0.00,0.000,6,0.000,0.032,2544,2553,3502
$GC,2030,-0.88,-146.0,458.9,-18.7,108,2034,0.00,2.40,0.00,0.000,4,0.000,0.110,2535,3899,3501
$GC,2129,-0.88,-146.0,477.8,-18.9,110,2134,0.00,2.00,0.00,0.000,6,0.000,0.032,2543,2556,3500
$STATE,2278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2278,begin apogee
$GC,2282,-0.32,0.0,506.8,19.5,114,2402,0.70,0.00,117.22,0.944,6,0.186,0.000,2740,2548,2900
$STATE,2403,end apogee,CONTROL_FINISHED_OK
$STATE,2403,begin climb
$GC,2405,0.88,146.0,513.0,0.0,117,2536,1.17,2.25,122.57,0.918,4,0.099,0.031,3139,1145,2303
$GC,2591,0.88,146.0,490.8,24.0,121,2596,0.00,2.38,0.00,0.000,6,0.000,0.055,3137,2559,2299
$GC,2858,0.88,146.0,419.8,26.9,128,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2559,2293
$GC,3101,0.88,146.0,358.2,25.0,134,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2559,2291
$GC,3345,0.88,146.0,301.7,22.4,140,3349,0.00,2.10,0.00,0.000,4,0.000,0.031,3147,1147,2289
$GC,3427,0.88,146.0,283.8,20.6,141,3435,0.00,2.30,0.00,0.000,6,0.000,0.058,3146,2558,2287
$GC,3678,0.88,146.0,231.6,20.0,148,3681,0.00,2.12,0.00,0.000,4,0.000,0.031,3156,1140,2285
$GC,3732,0.88,146.0,220.6,20.6,149,3737,0.00,2.30,0.00,0.000,6,0.000,0.059,3150,2549,2285
$GC,3998,0.88,146.0,168.5,19.7,166,4002,0.00,2.10,0.00,0.000,4,0.000,0.033,3159,1143,2284
$GC,4013,0.88,146.0,165.1,19.4,167,4021,0.00,2.30,0.00,0.000,6,0.000,0.061,3159,2551,2284
$GC,4275,0.88,146.0,121.5,16.5,192,4278,0.00,2.08,0.00,0.000,4,0.000,0.032,3168,1134,2283
$GC,4531,0.91,168.6,91.5,9.0,215,4557,0.00,2.28,15.85,0.646,6,0.000,0.059,3163,2563,2212
$GC,4810,0.91,168.6,57.3,14.2,241,4814,0.00,2.10,0.00,0.000,4,0.000,0.029,3172,1147,2209
$GC,4942,0.91,168.6,38.0,15.4,253,4946,0.00,2.25,0.00,0.000,6,0.000,0.058,3172,2562,2209
$STATE,5143,end climb,SURFACE_DEPTH_REACHED
$STATE,5144,begin surface coast
$FINISH,0.5,1.023524
$STATE,5161,end surface coast,CONTROL_FINISHED_OK
$STATE,5161,begin surface
$SM_CCo,5176,119.65,0.595,0,0,1187,420.19
$SM_GC,1.17,0.00,0.00,119.65,0.000,0.000,0.595,49,2569,1187,-8.76,0.57,420.19
$IRIDIUM_FIX,2232.34,-15726.40,210300,151535
$TT8_MAMPS,0.023777
$HUMID,1693
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.5,20.209
$10V_AH,10.8,10.906
$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,21.900,53.175,255.650,119.650,0.000,24.187,35.210,104.853,0.250,0.000,0.000,12.207,593.616,3173.733,436.532,1104.000,244.043,33.336,874.204,0.000,1108.205,0.000,0.544,0.000
$DEVICE_MAMPS,266.149,110.448,944.177,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,194.402,514.934,530.373,124.934,517.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22536,289
$CAP_FILE_SIZE,49914,0
$CFSIZE,260165632,254869504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,261210,182255,2242.127,-15757.104,40,1.5,40,10.1