version: 66.04
glider: 512
mission: 3
dive: 20
start: 8 7 112 8 46 31
data:
$ID,512
$MISSION,3
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,440
$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,52093
$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,380
$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,-50450.547
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2700
$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,2520
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2400
$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,0.0043351329
$SEABIRD_T_H,0.00062097196
$SEABIRD_T_I,2.1804433e-05
$SEABIRD_T_J,2.1334395e-06
$SEABIRD_C_G,-10.059877
$SEABIRD_C_H,1.1555313
$SEABIRD_C_I,-0.0022602002
$SEABIRD_C_J,0.00025523445
$GPS1,083436,2247.431,-15804.030,36,1.0,36,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-78.9
$GPS2,084549,2247.494,-15804.036,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.258,0.026
$KALMAN_X,-24378.9,493.1,-67.1,21441.3,-3261.9
$KALMAN_Y,-2821.9,562.1,284.3,-1109.0,-204.7
$MHEAD_RNG_PITCHd_Wd,74.1,8298,-17.5,-10.000
$D_GRID,600
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-84.38,0.000,6,0.000,0.000,22,2560,2995
$GC,111,-0.76,-146.0,5.0,-11.3,11,127,8.85,0.00,0.00,0.000,6,0.203,0.000,2440,2561,2996
$GC,385,-0.76,-146.0,57.1,-10.8,41,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2561,2997
$GC,642,-0.76,-146.0,82.0,-7.9,66,645,0.00,2.00,0.00,0.000,4,0.000,0.044,2431,3875,2997
$GC,692,-0.76,-146.0,86.1,-7.1,70,700,0.00,1.98,0.00,0.000,6,0.000,0.021,2432,2501,2997
$GC,950,-0.76,-146.0,105.8,-7.3,95,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2501,2998
$GC,1208,-0.76,-146.0,125.0,-7.9,120,1211,0.00,2.10,0.00,0.000,4,0.000,0.045,2425,3875,2998
$GC,1266,-0.76,-146.0,129.7,-7.6,125,1269,0.00,1.92,0.00,0.000,6,0.000,0.021,2425,2529,2998
$GC,1529,-0.76,-146.0,152.8,-8.6,150,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2521,2998
$GC,1787,-0.76,-146.0,172.7,-6.9,175,1790,0.00,2.08,0.00,0.000,4,0.000,0.046,2415,3877,2998
$GC,1824,-0.76,-146.0,175.3,-7.2,178,1827,0.12,1.92,0.00,0.000,6,0.104,0.022,2456,2513,2998
$GC,2091,-0.76,-146.0,186.1,-3.9,203,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2506,2999
$GC,2348,-0.76,-146.0,196.5,-4.1,228,2351,0.00,2.10,0.00,0.000,4,0.000,0.048,2454,3875,2998
$GC,2384,-0.76,-146.0,197.9,-4.5,231,2387,0.00,1.95,0.00,0.000,6,0.000,0.022,2454,2499,2998
$GC,2641,-0.76,-146.0,215.7,-7.9,241,2644,0.00,2.12,0.00,0.000,4,0.000,0.048,2454,3878,2998
$GC,2681,-0.76,-146.0,219.6,-9.2,241,2686,0.00,1.90,0.00,0.000,6,0.000,0.022,2454,2513,2998
$GC,2930,-0.76,-146.0,239.2,-7.8,248,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2512,2997
$GC,3171,-0.76,-146.0,255.0,-6.4,254,3174,0.00,2.10,0.00,0.000,4,0.000,0.047,2454,3884,2997
$GC,3237,-0.76,-146.0,260.2,-8.3,255,3240,0.00,1.90,0.00,0.000,6,0.000,0.023,2454,2526,2997
$GC,3502,-0.76,-146.0,284.8,-9.6,262,3505,0.00,2.08,0.00,0.000,4,0.000,0.047,2454,3874,2995
$GC,3530,-0.76,-146.0,287.1,-8.7,262,3533,0.00,1.92,0.00,0.000,6,0.000,0.023,2454,2507,2995
$GC,3790,-0.76,-146.0,303.9,-6.0,269,3793,0.00,2.10,0.00,0.000,4,0.000,0.048,2454,3873,2993
$GC,3887,-0.76,-146.0,309.5,-5.8,271,3890,0.00,1.90,0.00,0.000,6,0.000,0.023,2454,2524,2993
$GC,4163,-0.76,-146.0,328.6,-7.5,278,4166,0.00,2.08,0.00,0.000,4,0.000,0.048,2454,3872,2992
$GC,4271,-0.76,-146.0,337.1,-8.2,280,4274,0.00,1.90,0.00,0.000,6,0.000,0.023,2462,2526,2990
$GC,4536,-0.76,-146.0,358.0,-8.3,287,4539,0.00,1.98,0.00,0.000,4,0.000,0.027,2464,1126,2989
$GC,4671,-0.76,-146.0,367.6,-5.9,290,4674,0.00,2.05,0.00,0.000,6,0.000,0.038,2464,2500,2989
$GC,4952,-0.76,-146.0,384.8,-6.6,297,4955,0.00,2.12,0.00,0.000,4,0.000,0.049,2465,3903,2987
$GC,5018,-0.76,-146.0,388.5,-5.1,298,5021,0.00,1.98,-0.08,0.000,6,0.000,0.025,2475,2513,3009
$GC,5283,-0.76,-146.0,406.3,-7.4,305,5286,0.00,2.12,0.00,0.000,4,0.000,0.050,2475,3900,3008
$GC,5392,-0.76,-146.0,414.9,-6.7,307,5395,0.00,1.98,0.00,0.000,6,0.000,0.025,2478,2515,3008
$GC,5657,-0.76,-146.0,434.4,-7.6,314,5660,0.00,1.98,0.00,0.000,4,0.000,0.027,2478,1117,3007
$GC,5706,-0.76,-146.0,437.9,-6.3,315,5709,0.00,2.12,0.00,0.000,6,0.000,0.041,2477,2525,3006
$GC,5987,-0.76,-146.0,452.4,-5.2,322,5990,0.00,2.03,0.00,0.000,4,0.000,0.028,2478,1113,3005
$GC,6047,-0.76,-146.0,456.4,-6.5,323,6050,0.00,2.12,0.00,0.000,6,0.000,0.041,2478,2522,3005
$GC,6318,-0.76,-146.0,474.3,-7.2,330,6321,0.00,2.10,0.00,0.000,4,0.000,0.051,2478,3901,3003
$GC,6383,-0.76,-146.0,479.5,-7.9,331,6386,0.00,1.98,0.00,0.000,6,0.000,0.026,2478,2523,3003
$GC,6648,-0.76,-146.0,496.5,-6.4,338,6651,0.00,2.12,0.00,0.000,4,0.000,0.050,2478,3896,3002
$GC,6762,-0.76,-146.0,503.1,-5.6,340,6765,0.00,1.98,0.00,0.000,6,0.000,0.026,2487,2518,3001
$GC,7021,-0.76,-146.0,515.2,-4.5,347,7024,0.00,2.00,0.00,0.000,4,0.000,0.028,2490,1115,3000
$GC,7060,-0.76,-146.0,517.2,-4.7,347,7066,0.12,2.12,0.00,0.000,6,0.086,0.042,2447,2521,2999
$GC,7309,-0.76,-146.0,533.3,-7.4,354,7312,0.00,2.10,0.00,0.000,4,0.000,0.053,2447,3894,2998
$GC,7332,-0.76,-146.0,535.0,-7.9,354,7335,0.00,1.98,0.00,0.000,6,0.000,0.028,2447,2511,2998
$GC,7599,-0.76,-146.0,556.1,-8.5,361,7602,0.00,1.98,0.00,0.000,4,0.000,0.029,2449,1124,2997
$GC,7713,-0.76,-146.0,565.9,-8.2,363,7716,0.00,2.12,0.00,0.000,6,0.000,0.044,2449,2519,2997
$GC,7973,-0.76,-146.0,587.3,-8.3,370,7976,0.00,2.12,0.00,0.000,4,0.000,0.054,2449,3906,2996
$GC,8081,-0.76,-146.0,595.1,-7.2,372,8084,0.00,2.00,0.00,0.000,6,0.000,0.028,2452,2525,2995
$STATE,8180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8180,begin apogee
$GC,8190,-0.27,0.0,600.7,5.4,375,8322,0.45,0.00,130.05,1.098,6,0.054,0.000,2637,2431,2400
$STATE,8323,end apogee,CONTROL_FINISHED_OK
$STATE,8323,begin climb
$GC,8327,0.76,146.0,608.2,0.0,378,8466,0.85,0.00,130.77,1.019,6,0.052,0.000,2953,2430,1804
$GC,8692,0.76,146.0,498.7,39.4,387,8695,0.00,2.22,0.00,0.000,4,0.000,0.042,2953,3872,1796
$GC,8703,0.76,146.0,494.2,38.8,387,8707,0.00,2.15,0.00,0.000,6,0.000,0.028,2963,2448,1796
$GC,8974,0.76,146.0,397.7,35.0,394,8977,0.00,2.17,0.00,0.000,4,0.000,0.040,2958,3866,1794
$GC,8986,0.76,146.0,393.6,34.2,394,8989,0.00,2.12,0.00,0.000,6,0.000,0.028,2966,2435,1793
$GC,9263,0.76,146.0,299.7,33.7,401,9266,0.00,2.05,0.00,0.000,4,0.000,0.030,2977,1023,1793
$GC,9296,0.76,146.0,288.0,32.1,401,9299,0.00,2.15,0.00,0.000,6,0.000,0.039,2971,2448,1792
$GC,9550,0.76,146.0,207.3,30.9,408,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2449,1792
$GC,9801,0.76,146.0,137.1,27.9,429,9804,0.00,2.08,0.00,0.000,4,0.000,0.030,2979,1024,1792
$GC,9848,0.76,146.0,124.2,27.0,433,9852,0.12,2.12,0.00,0.000,6,0.234,0.038,2953,2442,1791
$GC,10111,0.76,146.0,61.8,19.3,457,10114,0.00,2.12,0.00,0.000,4,0.000,0.041,2944,3860,1791
$GC,10137,0.76,146.0,56.5,17.8,459,10140,0.00,2.08,0.00,0.000,6,0.000,0.027,2953,2441,1791
$GC,10402,0.76,146.0,5.7,21.9,494,10410,0.00,2.17,0.00,0.000,4,0.000,0.044,2953,3845,1792
$STATE,10416,end climb,SURFACE_DEPTH_REACHED
$STATE,10416,begin surface coast
$FINISH,-0.3,1.023525
$STATE,10421,end surface coast,CONTROL_FINISHED_OK
$STATE,10421,begin surface
$SM_CCo,10446,100.35,0.628,0,0,849,380.21
$SM_GC,0.45,0.00,0.00,100.35,0.000,0.000,0.628,44,2490,849,-8.29,-0.85,380.21
$IRIDIUM_FIX,2239.35,-15805.41,011101,080834
$TT8_MAMPS,0.047554
$HUMID,2289
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.70
$XPDR_PINGS,188
$24V_AH,24.4,2.757
$10V_AH,10.7,2.193
$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,17.900,106.650,260.825,100.350,0.000,81.758,96.279,238.848,47.000,0.000,0.000,14.357,0.000,7481.917,469.868,2419.695,843.177,33.310,1165.393,0.000,2160.550,0.000,0.544,0.000
$DEVICE_MAMPS,233.935,69.030,1098.344,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,336.390,1179.384,1228.370,317.597,892.724,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41406,497
$CAP_FILE_SIZE,95637,0
$CFSIZE,260165632,257146880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,070812,114321,2247.386,-15804.181,12,3.4,32,10.1