version: 66.04
glider: 512
mission: 1
dive: 105
start: 12 27 110 0 42 57
data:
$ID,512
$MISSION,1
$DIVE,105
$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,-7478.8481
$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,22
$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
$GPS1,003737,2243.481,-15756.913,30,1.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.0
$GPS2,004204,2243.475,-15756.858,17,3.5,36,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.075,0.249
$KALMAN_X,-84400.6,-695.0,-20.9,109500.1,4581.9
$KALMAN_Y,-121531.8,-287.9,536.8,238323.2,-4491.6
$MHEAD_RNG_PITCHd_Wd,333.1,6063,-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,-70.15,0.000,2,0.000,0.000,50,2550,3016
$GC,89,-0.88,-146.0,3.4,-6.6,9,121,11.35,2.38,-9.65,0.000,4,0.268,0.108,2543,3895,3498
$GC,364,-0.88,-146.0,96.4,-26.5,39,372,0.00,2.00,0.00,0.000,6,0.000,0.029,2550,2555,3500
$GC,627,-0.88,-146.0,165.9,-23.9,64,631,0.00,2.35,0.00,0.000,4,0.000,0.100,2542,3896,3501
$GC,734,-0.88,-146.0,191.5,-22.8,73,738,0.00,1.98,0.00,0.000,6,0.000,0.029,2549,2540,3502
$GC,1020,-0.88,-146.0,256.4,-21.8,83,1024,0.00,2.35,0.00,0.000,4,0.000,0.100,2540,3886,3503
$GC,1086,-0.88,-146.0,271.4,-21.6,84,1091,0.00,1.98,0.00,0.000,6,0.000,0.028,2548,2556,3503
$GC,1349,-0.88,-146.0,322.2,-19.0,91,1353,0.00,2.33,0.00,0.000,4,0.000,0.101,2537,3885,3503
$GC,1414,-0.88,-146.0,336.0,-19.1,92,1419,0.00,2.00,0.00,0.000,6,0.000,0.031,2545,2538,3502
$GC,1675,-0.88,-146.0,384.9,-18.3,99,1679,0.00,2.38,0.00,0.000,4,0.000,0.103,2537,3893,3502
$GC,1741,-0.88,-146.0,397.6,-17.3,100,1746,0.00,2.00,0.00,0.000,6,0.000,0.031,2544,2550,3501
$GC,2002,-0.88,-146.0,444.6,-18.0,107,2006,0.00,2.35,0.00,0.000,4,0.000,0.104,2536,3888,3500
$GC,2098,-0.88,-146.0,462.0,-17.4,109,2101,0.00,1.98,0.00,0.000,6,0.000,0.031,2543,2547,3499
$STATE,2332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2332,begin apogee
$GC,2336,-0.32,0.0,503.1,16.9,115,2457,0.70,0.00,117.53,0.949,6,0.183,0.000,2741,2539,2900
$STATE,2457,end apogee,CONTROL_FINISHED_OK
$STATE,2458,begin climb
$GC,2459,0.88,146.0,507.1,0.0,118,2591,1.17,2.22,123.78,0.942,4,0.095,0.032,3140,1157,2303
$GC,2679,0.88,146.0,473.2,24.2,123,2684,0.00,2.33,0.00,0.000,6,0.000,0.056,3137,2547,2298
$GC,2952,0.88,146.0,402.7,26.2,130,2955,0.00,2.10,0.00,0.000,4,0.000,0.033,3147,1149,2293
$GC,2961,0.88,146.0,400.1,25.0,130,2966,0.00,2.28,0.00,0.000,6,0.000,0.054,3145,2554,2293
$GC,3239,0.88,146.0,329.8,25.7,137,3243,0.00,2.12,0.00,0.000,4,0.000,0.032,3156,1137,2290
$GC,3254,0.88,146.0,325.7,25.7,137,3259,0.00,2.28,0.00,0.000,6,0.000,0.057,3150,2545,2290
$GC,3527,0.88,146.0,257.7,24.5,144,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2546,2288
$GC,3770,0.88,146.0,204.4,21.6,150,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2546,2285
$GC,4026,0.88,146.0,155.8,19.7,171,4030,0.00,2.10,0.00,0.000,4,0.000,0.033,3158,1137,2284
$GC,4039,0.88,146.0,152.9,19.8,172,4043,0.00,2.28,0.00,0.000,6,0.000,0.059,3159,2556,2285
$GC,4300,0.88,146.0,102.9,13.9,196,4303,0.00,2.10,0.00,0.000,4,0.000,0.031,3168,1130,2284
$GC,4389,0.88,146.0,90.5,12.8,204,4393,0.00,2.28,0.00,0.000,6,0.000,0.058,3162,2558,2284
$GC,4651,0.94,193.5,65.2,7.8,228,4691,0.00,2.17,35.30,0.637,4,0.000,0.030,3171,1139,2110
$GC,4936,0.94,193.5,18.0,20.0,259,4944,0.00,2.28,0.00,0.000,6,0.000,0.051,3172,2557,2106
$STATE,5013,end climb,SURFACE_DEPTH_REACHED
$STATE,5013,begin surface coast
$FINISH,0.4,1.023524
$STATE,5026,end surface coast,CONTROL_FINISHED_OK
$STATE,5026,begin surface
$SM_CCo,5041,107.32,0.602,0,0,1186,420.19
$SM_GC,1.02,0.00,0.00,107.32,0.000,0.000,0.602,46,2563,1186,-8.76,0.37,420.19
$IRIDIUM_FIX,2237.01,-15758.03,210300,232341
$TT8_MAMPS,0.024544
$HUMID,1742
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,24.5,20.702
$10V_AH,10.8,11.246
$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,21.925,52.575,276.600,107.325,0.000,24.507,33.591,107.605,0.250,0.000,0.000,37.583,568.404,3101.617,448.453,1068.771,244.094,33.331,866.603,0.000,1046.936,0.000,0.544,0.000
$DEVICE_MAMPS,267.683,108.147,948.779,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,185.022,485.692,500.263,117.657,490.061,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22496,275
$CAP_FILE_SIZE,48109,0
$CFSIZE,260165632,254709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,271210,020932,2243.821,-15756.728,13,1.5,13,10.1