version: 66.04
glider: 512
mission: 2
dive: 44
start: 8 18 111 10 26 22
data:
$ID,512
$MISSION,2
$DIVE,44
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,630
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,-33375.285
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3000
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,101754,2158.457,-15800.376,29,1.2,46,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.4
$GPS2,102525,2158.459,-15800.406,13,1.2,18,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,0.193
$KALMAN_X,-55855.4,357.5,-2.1,70825.9,-2490.2
$KALMAN_Y,-50125.3,164.6,347.3,81589.3,-3300.1
$MHEAD_RNG_PITCHd_Wd,25.7,86197,-19.5,-10.000
$D_GRID,900
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.79,-116.8,0.0,0.0,0,96,0.00,0.00,-75.40,0.000,2,0.000,0.000,46,2500,3279
$GC,102,-0.79,-116.8,3.7,-6.5,10,120,8.18,2.10,-3.40,0.000,4,0.206,0.041,2252,1086,3477
$GC,179,-0.79,-116.8,38.0,-31.0,20,184,0.00,2.15,0.00,0.000,6,0.000,0.041,2244,2478,3479
$GC,444,-0.79,-116.8,105.5,-23.1,44,447,0.00,2.20,0.00,0.000,4,0.000,0.047,2232,3904,3480
$GC,483,-0.79,-116.8,114.7,-26.3,47,487,0.00,2.08,0.00,0.000,6,0.000,0.023,2232,2496,3481
$GC,755,-0.79,-116.8,169.9,-19.5,72,759,0.00,2.05,0.00,0.000,4,0.000,0.026,2232,1075,3481
$GC,829,-0.79,-116.8,183.6,-15.5,78,837,0.00,2.17,0.00,0.000,6,0.000,0.039,2223,2487,3481
$GC,1088,-0.79,-116.8,231.9,-19.6,91,1092,0.00,2.17,0.00,0.000,4,0.000,0.048,2213,3905,3482
$GC,1168,-0.79,-116.8,247.3,-17.3,92,1173,0.12,2.08,0.00,0.000,6,0.138,0.024,2248,2482,3482
$GC,1420,-0.79,-116.8,283.2,-13.9,98,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2475,3482
$GC,1666,-0.79,-116.8,314.0,-12.2,104,1669,0.00,2.00,0.00,0.000,4,0.000,0.028,2247,1092,3482
$GC,1696,-0.79,-116.8,317.7,-11.6,104,1700,0.00,2.12,0.00,0.000,6,0.000,0.038,2238,2499,3482
$GC,1960,-0.79,-116.8,350.2,-12.6,111,1964,0.00,2.15,0.00,0.000,4,0.000,0.050,2227,3900,3480
$GC,2058,-0.79,-116.8,362.5,-12.5,113,2062,0.00,2.08,0.00,0.000,6,0.000,0.025,2227,2482,3480
$GC,2344,-0.79,-116.8,398.1,-12.5,120,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2475,3478
$GC,2589,-0.79,-116.8,427.1,-11.9,126,2593,0.00,2.22,0.00,0.000,4,0.000,0.051,2216,3904,3476
$GC,2663,-0.79,-116.8,436.3,-11.9,127,2667,0.00,2.08,0.00,0.000,6,0.000,0.028,2216,2493,3475
$GC,2921,-0.79,-116.8,469.0,-12.8,134,2925,0.00,2.05,0.00,0.000,4,0.000,0.031,2216,1085,3473
$GC,2985,-0.79,-116.8,477.0,-12.4,135,2990,0.12,2.12,0.00,0.000,6,0.136,0.043,2240,2490,3473
$GC,3260,-0.79,-116.8,504.2,-9.8,142,3263,0.00,2.17,0.00,0.000,4,0.000,0.053,2231,3895,3471
$GC,3301,-0.79,-116.8,508.4,-9.9,142,3307,0.00,2.08,0.00,0.000,6,0.000,0.028,2231,2480,3470
$GC,3555,-0.79,-116.8,532.6,-9.5,149,3558,0.00,2.03,0.00,0.000,4,0.000,0.032,2231,1090,3469
$GC,3592,-0.79,-116.8,536.1,-8.9,149,3596,0.00,2.15,0.00,0.000,6,0.000,0.044,2223,2497,3469
$GC,3851,-0.79,-116.8,562.3,-10.3,156,3855,0.00,2.17,0.00,0.000,4,0.000,0.055,2212,3898,3466
$GC,3937,-0.79,-116.8,572.2,-11.6,157,3944,0.12,2.10,0.00,0.000,6,0.133,0.029,2247,2479,3465
$GC,4190,-0.79,-116.8,594.7,-8.7,164,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2472,3464
$GC,4433,-0.79,-116.8,616.5,-9.0,170,4437,0.00,2.25,0.00,0.000,4,0.000,0.056,2238,3902,3463
$GC,4479,-0.79,-116.8,621.2,-9.7,171,4483,0.00,2.10,0.00,0.000,6,0.000,0.031,2238,2486,3462
$GC,4765,-0.79,-116.8,649.8,-10.3,178,4769,0.00,2.22,0.00,0.000,4,0.000,0.056,2228,3894,3459
$GC,4796,-0.79,-116.8,653.2,-11.8,178,4800,0.00,2.10,0.00,0.000,6,0.000,0.031,2228,2481,3459
$GC,5059,-0.79,-116.8,682.5,-11.2,185,5063,0.00,2.05,0.00,0.000,4,0.000,0.035,2228,1081,3457
$GC,5094,-0.79,-116.8,686.5,-11.1,185,5098,0.00,2.17,0.00,0.000,6,0.000,0.048,2223,2493,3457
$GC,5347,-0.79,-116.8,714.1,-10.9,191,5350,0.00,2.20,0.00,0.000,4,0.000,0.057,2212,3904,3456
$GC,5456,-0.79,-116.8,726.9,-11.6,193,5461,0.12,2.12,0.00,0.000,6,0.134,0.032,2247,2480,3455
$GC,5725,-0.79,-116.8,751.6,-8.9,200,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2473,3455
$GC,5969,-0.79,-116.8,772.5,-8.5,206,5973,0.00,2.25,0.00,0.000,4,0.000,0.058,2237,3899,3453
$GC,6023,-0.79,-116.8,777.4,-8.9,207,6026,0.00,2.10,0.00,0.000,6,0.000,0.031,2237,2482,3452
$GC,6303,-0.79,-116.8,802.4,-8.8,214,6307,0.00,2.05,0.00,0.000,4,0.000,0.035,2237,1088,3451
$GC,6333,-0.79,-116.8,805.2,-9.6,214,6337,0.00,2.17,0.00,0.000,6,0.000,0.048,2237,2498,3451
$GC,6593,-0.79,-116.8,827.3,-8.4,221,6597,0.00,2.17,0.00,0.000,4,0.000,0.060,2226,3898,3450
$GC,6656,-0.79,-116.8,833.4,-9.9,222,6660,0.00,2.10,0.00,0.000,6,0.000,0.032,2225,2491,3450
$GC,6931,-0.79,-116.8,858.6,-9.2,229,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2484,3449
$GC,7175,-0.79,-116.8,881.0,-9.2,235,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2484,3448
$STATE,7415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7415,begin apogee
$GC,7427,-0.27,0.0,902.7,8.9,241,7525,0.57,0.00,95.40,1.304,6,0.130,0.000,2413,2414,2999
$STATE,7526,end apogee,CONTROL_FINISHED_OK
$STATE,7526,begin climb
$GC,7531,0.79,116.8,905.3,0.0,243,7656,0.93,2.40,110.32,1.252,4,0.042,0.047,2766,3837,2524
$GC,7887,0.79,116.8,858.4,21.9,251,7891,0.00,2.17,0.00,0.000,6,0.000,0.031,2776,2419,2514
$GC,8172,0.79,116.8,800.2,20.2,258,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2413,2511
$GC,8417,0.79,116.8,751.4,19.8,264,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2413,2509
$GC,8660,0.79,116.8,704.9,18.9,270,8664,0.00,2.22,0.00,0.000,4,0.000,0.049,2776,3837,2507
$GC,8673,0.79,116.8,702.4,18.3,270,8677,0.00,2.15,0.00,0.000,6,0.000,0.031,2785,2408,2507
$GC,8947,0.79,116.8,653.3,17.7,277,8949,0.12,0.00,0.00,0.000,6,0.229,0.000,2761,2401,2507
$GC,9192,0.79,116.8,614.1,15.6,283,9196,0.00,2.25,0.00,0.000,4,0.000,0.051,2755,3836,2506
$GC,9283,0.79,116.8,598.9,16.8,285,9287,0.00,2.12,0.00,0.000,6,0.000,0.033,2764,2422,2506
$GC,9570,0.79,116.8,557.3,14.7,292,9574,0.00,2.22,0.00,0.000,4,0.000,0.051,2764,3838,2506
$GC,9622,0.79,116.8,548.7,15.7,293,9626,0.00,2.12,0.00,0.000,6,0.000,0.031,2774,2413,2506
$GC,9908,0.79,116.8,506.7,14.5,300,9912,0.00,2.25,0.00,0.000,4,0.000,0.049,2767,3838,2505
$GC,9921,0.79,116.8,504.5,14.5,300,9925,0.00,2.12,0.00,0.000,6,0.000,0.031,2776,2418,2505
$GC,10195,0.79,116.8,464.6,14.2,307,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2411,2504
$GC,10440,0.79,116.8,430.7,14.2,313,10443,0.00,2.22,0.00,0.000,4,0.000,0.051,2776,3841,2504
$GC,10632,0.79,116.8,404.9,13.3,317,10636,0.00,2.12,0.00,0.000,6,0.000,0.031,2786,2411,2504
$GC,10917,0.79,116.8,371.2,11.6,324,10922,0.12,2.25,0.00,0.000,4,0.225,0.049,2754,3844,2503
$GC,10998,0.79,116.8,362.2,10.9,325,11005,0.00,2.15,0.00,0.000,6,0.000,0.031,2763,2424,2504
$GC,11250,0.83,150.5,339.9,8.1,332,11282,0.00,2.30,26.52,0.914,4,0.000,0.048,2763,3839,2385
$GC,11301,0.83,150.5,335.3,10.7,333,11304,0.00,2.15,0.00,0.000,6,0.000,0.030,2773,2417,2385
$GC,11582,0.83,150.5,294.5,15.6,340,11585,0.00,2.10,0.00,0.000,4,0.000,0.034,2783,1003,2381
$GC,11662,0.83,150.5,283.5,14.8,341,11666,0.00,2.20,0.00,0.000,6,0.000,0.042,2780,2431,2381
$GC,11915,0.83,150.5,244.4,15.9,347,11919,0.00,2.17,0.00,0.000,4,0.000,0.051,2781,3830,2380
$GC,12148,0.83,150.5,212.9,10.6,352,12152,0.00,2.10,0.00,0.000,6,0.000,0.031,2789,2422,2379
$GC,12409,0.84,158.7,191.2,9.5,365,12419,0.00,0.00,7.62,0.696,6,0.000,0.000,2789,2416,2352
$GC,12674,0.84,158.7,163.2,10.1,390,12677,0.00,2.20,0.00,0.000,4,0.000,0.044,2781,3832,2350
$GC,12939,0.89,195.6,132.0,7.9,413,12976,0.00,2.10,31.77,0.730,6,0.000,0.028,2790,2401,2202
$GC,13234,0.89,195.6,97.3,12.5,440,13237,0.00,2.05,0.00,0.000,4,0.000,0.030,2799,1009,2196
$GC,13371,0.89,197.7,79.5,9.9,452,13375,0.00,2.15,0.00,0.000,6,0.000,0.035,2793,2435,2195
$GC,13643,0.93,228.2,62.8,8.3,477,13678,0.00,0.00,27.33,0.635,6,0.000,0.000,2793,2436,2068
$GC,13940,0.93,228.2,16.9,17.5,510,13948,0.00,2.17,0.00,0.000,4,0.000,0.047,2793,3820,2065
$GC,13959,0.93,228.2,13.2,18.2,512,13967,0.00,2.08,0.00,0.000,6,0.000,0.024,2802,2429,2064
$STATE,14010,end climb,SURFACE_DEPTH_REACHED
$STATE,14010,begin surface coast
$FINISH,0.3,1.023206
$STATE,14022,end surface coast,CONTROL_FINISHED_OK
$STATE,14022,begin surface
$SM_CCo,14047,88.53,0.597,0,0,1287,420.19
$SM_GC,1.01,0.00,0.00,88.53,0.000,0.000,0.597,41,2516,1287,-7.69,0.74,420.19
$IRIDIUM_FIX,2150.42,-15802.85,111100,060658
$TT8_MAMPS,0.023777
$HUMID,1981
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.40
$XPDR_PINGS,4
$24V_AH,24.0,6.291
$10V_AH,10.7,5.097
$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,17.625,133.350,298.975,88.525,0.000,29.471,34.256,201.925,1.000,0.000,0.000,18.883,1147.777,10172.578,461.501,1970.869,838.082,33.355,1336.201,0.000,1962.692,0.000,0.543,0.000
$DEVICE_MAMPS,228.566,87.438,1303.900,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.821,692.361,719.268,130.445,583.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41506,523
$CAP_FILE_SIZE,111453,0
$CFSIZE,260165632,215195648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,180811,142331,2159.487,-15758.966,44,1.2,44,9.9