version: 66.04
glider: 512
mission: 1
dive: 104
start: 12 26 110 23 9 21
data:
$ID,512
$MISSION,1
$DIVE,104
$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,-7440.6362
$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,53
$R_STBD_OVSHOOT,20
$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
$GPS1,230340,2243.178,-15756.822,11,3.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.5
$GPS2,230828,2243.178,-15756.769,11,3.6,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.187,0.180
$KALMAN_X,-86246.0,-348.0,-42.3,111175.5,3414.0
$KALMAN_Y,-121213.0,5.3,716.5,236973.9,-5249.7
$MHEAD_RNG_PITCHd_Wd,303.8,6469,-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,-69.95,0.000,2,0.000,0.000,44,2566,3016
$GC,89,-0.88,-146.0,3.3,-5.3,9,121,11.43,2.38,-9.65,0.000,4,0.268,0.112,2543,3893,3498
$GC,363,-0.88,-146.0,94.9,-27.5,39,372,0.00,2.00,0.00,0.000,6,0.000,0.028,2551,2553,3499
$GC,627,-0.88,-146.0,170.3,-27.0,64,631,0.00,2.38,0.00,0.000,4,0.000,0.105,2542,3893,3501
$GC,725,-0.88,-146.0,196.7,-22.4,72,734,0.00,2.00,0.00,0.000,6,0.000,0.028,2550,2554,3501
$GC,986,-0.88,-146.0,254.4,-21.3,80,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2547,3502
$GC,1230,-0.88,-146.0,306.1,-21.1,86,1234,0.00,2.35,0.00,0.000,4,0.000,0.104,2541,3889,3502
$GC,1279,-0.88,-146.0,316.3,-19.0,87,1284,0.00,2.00,0.00,0.000,6,0.000,0.029,2546,2542,3502
$GC,1557,-0.88,-146.0,369.1,-19.0,94,1561,0.00,2.38,0.00,0.000,4,0.000,0.107,2538,3887,3502
$GC,1661,-0.88,-146.0,389.8,-19.4,96,1666,0.00,2.00,0.00,0.000,6,0.000,0.031,2545,2543,3502
$GC,1928,-0.88,-146.0,440.6,-19.1,103,1932,0.00,2.38,0.00,0.000,4,0.000,0.107,2537,3887,3500
$GC,2017,-0.88,-146.0,457.7,-18.3,105,2021,0.00,2.00,0.00,0.000,6,0.000,0.031,2544,2548,3499
$STATE,2259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2259,begin apogee
$GC,2263,-0.32,0.0,502.2,18.2,111,2383,0.70,0.00,117.38,0.946,6,0.186,0.000,2741,2540,2900
$STATE,2384,end apogee,CONTROL_FINISHED_OK
$STATE,2384,begin climb
$GC,2386,0.88,146.0,507.6,0.0,114,2518,1.15,2.40,122.80,0.912,4,0.097,0.072,3124,3895,2303
$GC,2574,0.88,146.0,482.0,28.5,118,2579,0.00,2.10,0.00,0.000,6,0.000,0.031,3132,2558,2299
$GC,2840,0.88,146.0,412.9,26.2,125,2844,0.00,2.12,0.00,0.000,4,0.000,0.031,3144,1125,2294
$GC,2929,0.88,146.0,390.6,24.6,127,2933,0.00,2.30,0.00,0.000,6,0.000,0.058,3137,2549,2292
$GC,3213,0.88,146.0,317.3,25.9,134,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2548,2289
$GC,3455,0.88,146.0,259.9,22.5,140,3459,0.00,2.12,0.00,0.000,4,0.000,0.033,3147,1131,2287
$GC,3487,0.88,146.0,253.0,20.9,140,3492,0.00,2.33,0.00,0.000,6,0.000,0.060,3146,2551,2287
$GC,3743,0.88,146.0,199.5,21.3,147,3747,0.00,2.12,0.00,0.000,4,0.000,0.033,3155,1131,2286
$GC,3777,0.88,146.0,193.3,20.1,150,3781,0.00,2.28,0.00,0.000,6,0.000,0.057,3150,2558,2286
$GC,4037,0.88,146.0,142.5,18.4,174,4041,0.00,2.15,0.00,0.000,4,0.000,0.065,3150,3901,2284
$GC,4183,0.88,146.0,113.6,14.6,187,4187,0.00,2.03,0.00,0.000,6,0.000,0.034,3159,2535,2283
$GC,4450,0.88,146.0,82.6,12.4,212,4453,0.00,2.22,0.00,0.000,4,0.000,0.066,3159,3902,2282
$GC,4495,0.88,146.0,76.5,14.0,216,4500,0.15,2.03,0.00,0.000,6,0.261,0.032,3139,2530,2283
$GC,4763,0.92,178.1,49.9,8.6,241,4793,0.00,2.12,23.17,0.613,4,0.000,0.031,3149,1131,2173
$GC,5036,0.92,178.1,10.1,16.2,277,5045,0.00,2.28,0.00,0.000,6,0.000,0.054,3149,2544,2170
$STATE,5082,end climb,SURFACE_DEPTH_REACHED
$STATE,5082,begin surface coast
$FINISH,0.2,1.023479
$STATE,5100,end surface coast,CONTROL_FINISHED_OK
$STATE,5100,begin surface
$SM_CCo,5115,116.82,0.575,0,0,1186,420.19
$SM_GC,1.08,0.00,0.00,116.82,0.000,0.000,0.575,52,2549,1186,-8.74,-0.03,420.19
$IRIDIUM_FIX,2234.68,-15820.16,210300,212123
$TT8_MAMPS,0.023777
$HUMID,1724
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,20.604
$10V_AH,10.8,11.181
$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,21.950,52.450,263.350,116.825,0.000,30.481,38.459,123.572,0.000,0.000,0.000,31.255,589.857,3096.854,434.360,1143.944,270.944,33.330,884.324,0.000,1123.099,0.000,0.543,0.000
$DEVICE_MAMPS,268.450,111.982,946.478,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,193.810,517.138,531.729,127.718,535.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22523,288
$CAP_FILE_SIZE,49898,0
$CFSIZE,260165632,254738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,271210,003737,2243.481,-15756.913,30,1.9,30,10.1