version: 66.04
glider: 512
mission: 1
dive: 57
start: 12 20 110 23 21 51
data:
$ID,512
$MISSION,1
$DIVE,57
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,452
$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,-4137.4321
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2750
$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,2500
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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,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
$GPS1,231607,2226.493,-15814.163,42,1.1,42,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.4
$GPS2,232056,2226.539,-15814.193,11,1.5,11,10.0
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.159,0.164
$KALMAN_X,-31375.5,1412.1,587.2,23861.5,-13650.3
$KALMAN_Y,-51211.7,61.7,315.7,136517.0,-5246.7
$MHEAD_RNG_PITCHd_Wd,34.0,41912,-12.1,-7.006
$D_GRID,950
$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,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-54.83,0.000,2,0.000,0.000,46,2518,3078
$GC,73,-0.66,-146.0,3.2,-3.4,7,107,11.82,2.45,-16.20,0.000,4,0.281,0.108,2517,3900,3945
$GC,142,-0.66,-146.0,36.9,-54.2,17,152,0.00,2.15,0.00,0.000,6,0.000,0.031,2523,2506,3946
$GC,404,-0.66,-146.0,154.1,-38.7,42,408,0.00,2.12,0.00,0.000,4,0.000,0.031,2533,1081,3946
$GC,427,-0.66,-146.0,162.8,-40.5,44,431,0.00,2.38,0.00,0.000,6,0.000,0.075,2523,2515,3947
$GC,702,-0.66,-146.0,255.4,-32.8,58,706,0.00,2.35,0.00,0.000,4,0.000,0.093,2512,3899,3948
$GC,761,-0.66,-146.0,273.7,-27.4,59,766,0.00,2.12,0.00,0.000,6,0.000,0.030,2520,2488,3949
$GC,1029,-0.66,-146.0,342.9,-26.0,66,1033,0.00,2.45,0.00,0.000,4,0.000,0.100,2510,3897,3950
$GC,1100,-0.66,-146.0,359.2,-19.1,67,1105,0.00,2.10,0.00,0.000,6,0.000,0.031,2515,2502,3950
$GC,1355,-0.66,-146.0,421.8,-25.8,74,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2497,3949
$GC,1599,-0.66,-146.0,478.8,-22.8,80,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2497,3947
$GC,1845,-0.66,-146.0,532.4,-21.9,86,1849,0.00,2.42,0.00,0.000,4,0.000,0.104,2504,3892,3946
$GC,1938,-0.66,-146.0,552.3,-18.2,88,1943,0.00,2.10,0.00,0.000,6,0.000,0.033,2512,2496,3945
$GC,2216,-0.66,-146.0,612.8,-22.3,95,2220,0.00,2.42,0.00,0.000,4,0.000,0.103,2502,3896,3942
$GC,2276,-0.66,-146.0,626.1,-20.4,96,2281,0.00,2.10,0.00,0.000,6,0.000,0.034,2510,2501,3942
$GC,2548,-0.66,-146.0,684.1,-21.5,103,2553,0.00,2.42,0.00,0.000,4,0.000,0.103,2501,3890,3939
$GC,2625,-0.66,-146.0,699.7,-18.5,104,2633,0.00,2.10,0.00,0.000,6,0.000,0.035,2508,2504,3938
$GC,2877,-0.66,-146.0,748.2,-19.4,111,2881,0.00,2.45,0.00,0.000,4,0.000,0.109,2498,3896,3936
$GC,2931,-0.66,-146.0,759.1,-18.4,112,2936,0.00,2.15,0.00,0.000,6,0.000,0.035,2506,2499,3935
$GC,3203,-0.66,-146.0,809.4,-18.6,119,3208,0.10,2.45,0.00,0.000,4,0.212,0.107,2518,3897,3933
$GC,3274,-0.66,-146.0,821.2,-14.2,120,3279,0.00,2.15,0.00,0.000,6,0.000,0.037,2521,2500,3932
$GC,3529,-0.66,-146.0,863.0,-16.7,127,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2494,3930
$GC,3773,-0.66,-146.0,903.6,-16.5,133,3777,0.00,2.45,0.00,0.000,4,0.000,0.108,2512,3889,3927
$GC,3884,-0.66,-146.0,921.2,-15.2,135,3889,0.00,2.10,0.00,0.000,6,0.000,0.038,2518,2504,3926
$STATE,4068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4068,begin apogee
$GC,4072,-0.32,0.0,951.3,16.5,140,4196,0.45,0.00,121.32,1.315,6,0.181,0.000,2645,2392,3347
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4198,0.66,146.0,959.0,0.0,143,4337,1.05,2.53,130.23,1.288,4,0.140,0.079,2953,3779,2750
$GC,4590,0.66,146.0,948.1,8.9,152,4594,0.00,2.25,0.00,0.000,6,0.000,0.038,2964,2346,2742
$GC,4873,0.67,150.3,927.6,6.9,159,4877,0.00,2.45,0.00,0.000,4,0.000,0.081,2958,3771,2738
$GC,5101,0.68,156.3,911.0,6.8,164,5115,0.00,2.20,7.93,1.058,6,0.000,0.040,2967,2359,2708
$GC,5379,0.68,156.3,890.5,7.7,171,5383,0.00,2.40,0.00,0.000,4,0.000,0.077,2967,3776,2704
$GC,5518,0.68,156.3,877.7,9.9,174,5523,0.00,2.17,0.00,0.000,6,0.000,0.038,2976,2378,2704
$GC,5797,0.68,156.3,852.9,9.0,181,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2373,2702
$GC,6039,0.68,156.3,829.9,9.6,187,6043,0.00,2.15,0.00,0.000,4,0.000,0.039,2987,953,2701
$GC,6156,0.68,156.3,818.9,9.7,189,6161,0.00,2.33,0.00,0.000,6,0.000,0.067,2986,2359,2700
$GC,6419,0.68,156.3,794.3,9.5,196,6424,0.00,2.38,0.00,0.000,4,0.000,0.080,2986,3783,2699
$GC,6445,0.68,156.3,791.2,11.4,196,6451,0.00,2.20,0.00,0.000,6,0.000,0.041,2996,2372,2700
$GC,6701,0.68,156.3,768.5,8.8,203,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2370,2699
$GC,6946,0.68,156.3,746.6,9.0,209,6950,0.00,2.38,0.00,0.000,4,0.000,0.077,2996,3798,2698
$GC,7040,0.68,156.3,737.7,9.2,211,7045,0.12,2.22,0.00,0.000,6,0.270,0.039,2979,2360,2698
$GC,7318,0.68,156.3,712.9,9.1,218,7322,0.00,2.35,0.00,0.000,4,0.000,0.074,2971,3787,2697
$GC,7346,0.68,156.3,710.0,10.5,218,7350,0.00,2.17,0.00,0.000,6,0.000,0.040,2980,2362,2697
$GC,7600,0.68,156.3,687.1,8.6,225,7604,0.00,2.15,0.00,0.000,4,0.000,0.039,2991,928,2696
$GC,7632,0.68,156.3,684.7,8.0,225,7637,0.00,2.38,0.00,0.000,6,0.000,0.067,2986,2372,2696
$GC,7887,0.68,156.3,664.7,7.6,232,7891,0.00,2.35,0.00,0.000,4,0.000,0.081,2986,3788,2696
$GC,7981,0.68,156.3,657.2,7.7,234,7986,0.00,2.20,0.00,0.000,6,0.000,0.041,2996,2372,2696
$GC,8268,0.74,206.5,641.1,5.4,241,8317,0.00,2.50,42.58,1.147,4,0.000,0.078,2996,3792,2504
$GC,8372,0.74,206.5,629.7,15.4,243,8378,0.00,2.28,0.00,0.000,6,0.000,0.040,3007,2366,2501
$GC,8639,0.74,206.5,592.2,14.0,250,8643,0.00,2.42,0.00,0.000,4,0.000,0.078,3007,3794,2498
$GC,8671,0.74,206.5,587.4,15.2,250,8676,0.10,2.25,0.00,0.000,6,0.264,0.039,2997,2367,2497
$GC,8927,0.74,206.5,553.6,13.2,257,8931,0.00,2.40,0.00,0.000,4,0.000,0.081,2997,3787,2496
$GC,8986,0.74,206.5,544.6,14.9,258,8991,0.00,2.22,0.00,0.000,6,0.000,0.040,3006,2371,2495
$GC,9253,0.74,206.5,508.8,13.2,265,9257,0.00,2.38,0.00,0.000,4,0.000,0.079,3007,3796,2495
$GC,9279,0.74,206.5,504.9,14.7,265,9284,0.00,2.22,0.00,0.000,6,0.000,0.038,3019,2370,2495
$GC,9540,0.74,206.5,470.6,12.8,272,9545,0.12,2.38,0.00,0.000,4,0.252,0.077,2996,3789,2495
$GC,9656,0.74,206.5,455.2,12.7,274,9661,0.00,2.20,0.00,0.000,6,0.000,0.040,3005,2376,2494
$GC,9913,0.74,206.5,421.6,13.1,281,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2371,2494
$GC,10155,0.74,206.5,395.2,10.2,287,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2371,2494
$GC,10399,0.74,206.5,371.2,9.2,293,10403,0.00,2.15,0.00,0.000,4,0.000,0.039,3017,950,2494
$GC,10498,0.74,206.5,363.1,8.1,295,10503,0.00,2.30,0.00,0.000,6,0.000,0.061,3013,2368,2493
$GC,10777,0.74,206.5,338.0,9.5,302,10780,0.00,2.15,0.00,0.000,4,0.000,0.039,3023,945,2493
$GC,11016,0.74,206.5,319.0,7.6,307,11022,0.10,2.33,0.00,0.000,6,0.223,0.063,2997,2372,2493
$GC,11288,0.74,206.5,299.5,7.4,314,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2372,2493
$GC,11532,0.77,233.9,283.8,6.1,320,11562,0.00,2.40,22.90,0.876,4,0.000,0.075,2997,3787,2392
$GC,11618,0.77,233.9,276.9,9.9,322,11622,0.00,2.20,0.00,0.000,6,0.000,0.038,3006,2363,2390
$GC,11906,0.77,233.9,249.1,9.3,329,11911,0.00,2.40,0.00,0.000,4,0.000,0.077,3006,3786,2388
$GC,12163,0.77,233.9,221.6,9.3,334,12170,0.00,2.20,0.00,0.000,6,0.000,0.036,3019,2357,2388
$GC,12416,0.77,233.9,195.3,10.0,344,12420,0.00,2.10,0.00,0.000,4,0.000,0.036,3030,949,2388
$GC,12530,0.77,233.9,184.4,9.3,354,12540,0.00,2.30,0.00,0.000,6,0.000,0.058,3027,2371,2388
$GC,12794,0.77,233.9,160.0,9.4,379,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2371,2388
$GC,13049,0.77,233.9,136.0,8.1,403,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2371,2387
$GC,13304,0.79,247.4,116.7,6.6,427,13321,0.00,2.15,12.52,0.684,4,0.000,0.034,3036,948,2337
$GC,13357,0.85,296.5,114.0,5.4,431,13406,0.00,2.30,41.33,0.736,6,0.000,0.059,3036,2373,2137
$GC,13659,0.85,296.5,82.8,11.0,459,13663,0.00,2.15,0.00,0.000,4,0.000,0.035,3046,956,2132
$GC,13715,0.85,296.5,76.8,10.1,464,13719,0.00,2.28,0.00,0.000,6,0.000,0.058,3040,2372,2131
$GC,13985,0.85,296.5,46.0,12.5,489,13989,0.00,2.33,0.00,0.000,4,0.000,0.070,3040,3787,2131
$GC,14016,0.85,296.5,41.1,15.1,491,14025,0.00,2.17,0.00,0.000,6,0.000,0.033,3050,2369,2131
$GC,14278,0.85,296.5,4.4,13.5,533,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2364,2132
$STATE,14291,end climb,SURFACE_DEPTH_REACHED
$STATE,14291,begin surface coast
$FINISH,0.3,1.023590
$STATE,14314,end surface coast,CONTROL_FINISHED_OK
$STATE,14314,begin surface
$SM_CCo,14329,57.40,0.620,0,0,1633,420.19
$SM_GC,1.75,0.00,0.00,57.40,0.000,0.000,0.620,48,2520,1633,-8.44,0.54,420.19
$IRIDIUM_FIX,2216.01,-15816.24,150300,191945
$TT8_MAMPS,0.024544
$HUMID,1648
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.8,13.412
$10V_AH,10.7,7.108
$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,22.225,146.250,378.800,57.400,0.000,24.121,34.582,146.110,0.250,0.000,0.000,12.066,1203.706,10465.548,530.686,2158.178,326.158,33.349,1486.862,0.000,2137.164,0.000,0.543,0.000
$DEVICE_MAMPS,280.722,108.914,1315.405,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,366.764,697.079,718.161,138.855,580.407,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44559,539
$CAP_FILE_SIZE,115839,0
$CFSIZE,260165632,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,211210,032254,2227.106,-15813.837,25,1.3,42,10.0