version: 66.04
glider: 512
mission: 3
dive: 21
start: 8 7 112 12 2 6
data:
$ID,512
$MISSION,3
$DIVE,21
$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,-50500.426
$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,62
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2420
$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
$GPS1,114321,2247.386,-15804.181,12,3.4,32,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-79.0
$GPS2,120124,2247.332,-15804.252,45,1.1,45,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.257,-0.034
$KALMAN_X,-27984.9,151.0,416.0,24546.0,-4516.6
$KALMAN_Y,-4212.6,931.7,687.7,-788.3,-2774.0
$MHEAD_RNG_PITCHd_Wd,87.4,8449,-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,-85.18,0.000,6,0.000,0.000,19,2489,3015
$GC,111,-0.76,-146.0,4.6,-9.9,11,128,8.90,2.15,0.00,0.000,4,0.203,0.031,2433,3909,3015
$GC,158,-0.76,-146.0,29.5,-44.7,18,167,0.00,2.05,0.00,0.000,6,0.000,0.025,2436,2534,3016
$GC,416,-0.76,-146.0,65.4,-12.9,43,419,0.00,2.05,0.00,0.000,4,0.000,0.026,2435,1110,3015
$GC,452,-0.76,-146.0,70.0,-12.8,46,455,0.00,2.12,0.00,0.000,6,0.000,0.040,2430,2515,3015
$GC,716,-0.76,-146.0,99.6,-9.6,71,719,0.00,2.12,0.00,0.000,4,0.000,0.047,2424,3907,3017
$GC,795,-0.76,-146.0,105.5,-6.2,78,798,0.00,2.00,0.00,0.000,6,0.000,0.023,2424,2508,3016
$GC,1059,-0.76,-146.0,123.9,-6.8,103,1062,0.00,2.15,0.00,0.000,4,0.000,0.044,2414,3903,3017
$GC,1094,-0.76,-146.0,126.6,-7.8,106,1098,0.12,1.98,0.00,0.000,6,0.105,0.022,2454,2516,3017
$GC,1363,-0.76,-146.0,139.5,-5.0,131,1366,0.00,2.12,0.00,0.000,4,0.000,0.047,2454,3897,3017
$GC,1398,-0.76,-146.0,141.5,-4.6,134,1401,0.00,1.98,0.00,0.000,6,0.000,0.022,2454,2509,3017
$GC,1661,-0.76,-146.0,159.8,-8.6,159,1664,0.00,1.95,0.00,0.000,4,0.000,0.025,2461,1122,3017
$GC,1678,-0.76,-146.0,161.5,-8.5,160,1686,0.00,2.12,0.00,0.000,6,0.000,0.038,2461,2518,3017
$GC,1936,-0.76,-146.0,182.4,-8.2,185,1939,0.00,2.08,0.00,0.000,4,0.000,0.048,2461,3894,3017
$GC,2017,-0.76,-146.0,189.6,-8.4,192,2025,0.00,1.98,0.00,0.000,6,0.000,0.022,2461,2505,3017
$GC,2289,-0.76,-146.0,207.8,-6.5,210,2292,0.00,2.12,0.00,0.000,4,0.000,0.048,2461,3900,3017
$GC,2366,-0.76,-146.0,212.7,-6.5,211,2369,0.00,1.92,0.00,0.000,6,0.000,0.022,2461,2527,3017
$GC,2620,-0.76,-146.0,232.0,-8.2,218,2623,0.00,2.10,0.00,0.000,4,0.000,0.047,2461,3901,3017
$GC,2642,-0.76,-146.0,234.1,-9.1,218,2646,0.00,1.95,0.00,0.000,6,0.000,0.023,2461,2515,3017
$GC,2907,-0.76,-146.0,259.1,-9.6,225,2911,0.00,2.12,0.00,0.000,4,0.000,0.047,2461,3901,3017
$GC,3000,-0.76,-146.0,266.5,-7.6,227,3003,0.00,1.98,0.00,0.000,6,0.000,0.023,2461,2514,3017
$GC,3281,-0.76,-146.0,287.2,-7.3,234,3284,0.00,2.15,0.00,0.000,4,0.000,0.051,2461,3910,3016
$GC,3303,-0.76,-146.0,289.0,-7.8,234,3307,0.00,1.98,0.00,0.000,6,0.000,0.023,2461,2518,3016
$GC,3570,-0.76,-146.0,309.8,-8.4,241,3573,0.00,2.15,0.00,0.000,4,0.000,0.048,2461,3909,3015
$GC,3679,-0.76,-146.0,318.2,-7.0,243,3682,0.00,1.98,0.00,0.000,6,0.000,0.024,2472,2519,3014
$GC,3944,-0.76,-146.0,337.3,-7.3,250,3947,0.00,1.98,0.00,0.000,4,0.000,0.025,2474,1114,3012
$GC,4014,-0.76,-146.0,342.3,-7.0,251,4017,0.00,2.12,0.00,0.000,6,0.000,0.039,2474,2531,3012
$GC,4274,-0.76,-146.0,359.4,-7.3,258,4277,0.00,2.08,0.00,0.000,4,0.000,0.049,2474,3902,3011
$GC,4340,-0.76,-146.0,364.5,-7.1,259,4343,0.00,1.98,0.00,0.000,6,0.000,0.024,2478,2514,3010
$GC,4607,-0.76,-146.0,384.2,-7.6,266,4610,0.00,2.15,0.00,0.000,4,0.000,0.050,2477,3906,3009
$GC,4646,-0.76,-146.0,387.4,-7.3,266,4651,0.00,1.98,0.00,0.000,6,0.000,0.025,2478,2512,3008
$GC,4894,-0.76,-146.0,404.4,-6.9,273,4897,0.00,1.98,0.00,0.000,4,0.000,0.026,2477,1117,3007
$GC,5110,-0.76,-146.0,419.4,-7.5,278,5114,0.00,2.12,-0.08,0.000,6,0.000,0.041,2478,2528,3030
$GC,5391,-0.76,-146.0,438.1,-6.9,285,5394,0.00,2.10,0.00,0.000,4,0.000,0.050,2478,3907,3028
$GC,5414,-0.76,-146.0,439.6,-7.0,285,5417,0.00,1.98,0.00,0.000,6,0.000,0.026,2477,2525,3029
$GC,5679,-0.76,-146.0,457.1,-7.1,292,5682,0.00,2.00,0.00,0.000,4,0.000,0.028,2478,1119,3026
$GC,5733,-0.76,-146.0,461.2,-7.4,293,5737,0.00,2.12,0.00,0.000,6,0.000,0.041,2477,2533,3026
$GC,6009,-0.76,-146.0,480.5,-7.2,300,6012,0.00,2.03,0.00,0.000,4,0.000,0.028,2478,1120,3025
$GC,6022,-0.76,-146.0,481.4,-6.9,300,6025,0.00,2.10,0.00,0.000,6,0.000,0.042,2478,2516,3025
$GC,6297,-0.76,-146.0,497.8,-5.6,307,6301,0.00,2.00,0.00,0.000,4,0.000,0.027,2486,1121,3024
$GC,6341,-0.76,-146.0,499.9,-4.0,308,6345,0.00,2.10,0.00,0.000,6,0.000,0.041,2485,2523,3024
$GC,6628,-0.76,-146.0,512.8,-4.3,315,6631,0.00,2.10,0.00,0.000,4,0.000,0.051,2485,3902,3023
$GC,6715,-0.76,-146.0,517.3,-5.8,317,6718,0.12,1.98,0.00,0.000,6,0.107,0.027,2450,2524,3022
$GC,7001,-0.76,-146.0,538.8,-8.4,324,7004,0.00,2.15,0.00,0.000,4,0.000,0.053,2450,3905,3021
$GC,7061,-0.76,-146.0,543.9,-7.7,325,7065,0.00,2.00,0.00,0.000,6,0.000,0.027,2456,2516,3021
$GC,7332,-0.76,-146.0,564.2,-7.6,332,7335,0.00,2.00,0.00,0.000,4,0.000,0.030,2461,1116,3019
$GC,7419,-0.76,-146.0,570.6,-7.1,334,7422,0.00,2.15,0.00,0.000,6,0.000,0.043,2461,2532,3020
$GC,7707,-0.76,-146.0,586.7,-5.4,341,7710,0.00,2.10,0.00,0.000,4,0.000,0.054,2461,3903,3017
$GC,7816,-0.76,-146.0,592.6,-4.5,343,7819,0.00,2.00,0.00,0.000,6,0.000,0.028,2465,2524,3016
$STATE,7995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7995,begin apogee
$GC,8005,-0.27,0.0,602.3,5.4,348,8138,0.40,0.00,130.93,1.096,6,0.057,0.000,2630,2429,2420
$STATE,8138,end apogee,CONTROL_FINISHED_OK
$STATE,8139,begin climb
$GC,8143,0.76,146.0,609.4,0.0,351,8285,0.85,2.35,130.80,1.025,4,0.048,0.040,2945,3860,1823
$GC,8451,0.76,146.0,528.0,38.0,358,8455,0.00,2.15,0.00,0.000,6,0.000,0.029,2953,2447,1817
$GC,8722,0.76,146.0,432.6,34.0,365,8725,0.00,2.10,0.00,0.000,4,0.000,0.031,2965,1023,1815
$GC,8787,0.76,146.0,411.9,30.4,366,8790,0.00,2.17,0.00,0.000,6,0.000,0.038,2964,2451,1813
$GC,9046,0.76,146.0,328.2,32.4,373,9049,0.00,2.10,0.00,0.000,4,0.000,0.031,2974,1026,1813
$GC,9123,0.76,146.0,304.4,31.3,374,9126,0.00,2.15,0.00,0.000,6,0.000,0.040,2971,2440,1812
$GC,9371,0.76,146.0,227.3,30.6,380,9375,0.00,2.15,0.00,0.000,4,0.000,0.043,2970,3857,1812
$GC,9405,0.76,146.0,217.4,30.8,380,9408,0.15,2.10,0.00,0.000,6,0.236,0.029,2948,2440,1812
$GC,9660,0.76,146.0,151.8,26.3,398,9663,0.00,2.05,0.00,0.000,4,0.000,0.031,2957,1020,1811
$GC,9761,0.76,146.0,126.0,27.3,407,9764,0.00,2.15,0.00,0.000,6,0.000,0.041,2957,2442,1811
$GC,10019,0.76,146.0,58.0,26.6,431,10022,0.00,2.08,0.00,0.000,4,0.000,0.029,2966,1015,1811
$GC,10119,0.76,146.0,39.5,17.2,440,10122,0.00,2.15,0.00,0.000,6,0.000,0.038,2966,2453,1811
$STATE,10310,end climb,SURFACE_DEPTH_REACHED
$STATE,10310,begin surface coast
$FINISH,0.2,1.023532
$STATE,10320,end surface coast,CONTROL_FINISHED_OK
$STATE,10320,begin surface
$SM_CCo,10344,98.32,0.632,0,0,869,380.21
$SM_GC,0.44,0.00,0.00,98.32,0.000,0.000,0.632,43,2542,869,-8.30,0.62,380.21
$IRIDIUM_FIX,2237.01,-15805.41,011101,121249
$TT8_MAMPS,0.047554
$HUMID,2257
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,20.90
$XPDR_PINGS,72
$24V_AH,24.3,2.893
$10V_AH,10.6,2.324
$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,18.950,124.425,261.725,98.325,0.000,122.311,140.158,447.151,18.000,0.000,0.000,49.250,0.000,7423.361,436.790,2496.742,1157.579,33.329,1190.755,0.000,2190.293,0.000,0.543,0.000
$DEVICE_MAMPS,236.236,88.972,1096.043,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,321.169,1100.310,1140.572,273.022,819.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38293,474
$CAP_FILE_SIZE,107768,0
$CFSIZE,260165632,257089536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,070812,145715,2246.732,-15804.654,15,2.4,34,10.1