version: 66.04
glider: 512
mission: 3
dive: 39
start: 8 8 112 17 47 27
data:
$ID,512
$MISSION,3
$DIVE,39
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$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,340
$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,-50927.055
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2630
$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,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,2450
$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
$GPS1,173018,2247.184,-15804.293,14,1.6,31,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-78.4
$GPS2,174649,2247.256,-15804.381,13,1.8,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,-0.094
$KALMAN_X,-56783.7,123.3,-202.9,53767.4,-2468.5
$KALMAN_Y,-4413.8,85.7,-809.1,1611.6,968.8
$MHEAD_RNG_PITCHd_Wd,101.1,8570,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,99,0.00,0.00,-82.15,0.000,2,0.000,0.000,13,2503,3001
$GC,104,-0.77,-146.0,3.2,-5.7,10,121,8.68,2.15,-0.82,0.000,4,0.200,0.044,2367,3921,3047
$GC,142,-0.77,-146.0,22.8,-52.1,15,150,0.00,2.12,0.00,0.000,6,0.000,0.025,2367,2506,3047
$GC,403,-0.77,-146.0,87.0,-19.2,41,406,0.00,2.17,0.00,0.000,4,0.000,0.042,2357,3913,3048
$GC,460,-0.77,-146.0,97.3,-16.8,46,463,0.00,2.08,0.00,0.000,6,0.000,0.023,2356,2491,3047
$GC,723,-0.77,-146.0,144.0,-17.4,71,726,0.00,2.17,0.00,0.000,4,0.000,0.042,2346,3908,3049
$GC,781,-0.77,-146.0,154.1,-16.2,76,785,0.12,2.05,0.00,0.000,6,0.139,0.023,2379,2485,3048
$GC,1040,-0.77,-146.0,191.5,-13.9,100,1043,0.00,2.20,0.00,0.000,4,0.000,0.044,2372,3913,3049
$GC,1097,-0.77,-146.0,198.8,-11.1,105,1100,0.00,2.03,0.00,0.000,6,0.000,0.022,2372,2503,3049
$GC,1351,-0.77,-146.0,228.4,-11.4,112,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2496,3049
$GC,1593,-0.77,-146.0,256.5,-11.8,118,1596,0.00,2.15,0.00,0.000,4,0.000,0.044,2361,3909,3048
$GC,1685,-0.77,-146.0,268.5,-12.8,120,1688,0.00,2.03,0.00,0.000,6,0.000,0.023,2361,2497,3048
$GC,1966,-0.77,-146.0,304.9,-12.5,127,1969,0.00,2.17,0.00,0.000,4,0.000,0.047,2359,3906,3048
$GC,2021,-0.77,-146.0,311.1,-11.0,128,2024,0.00,2.05,0.00,0.000,6,0.000,0.023,2359,2490,3047
$GC,2296,-0.77,-146.0,340.5,-10.7,135,2300,0.00,2.17,0.00,0.000,4,0.000,0.046,2348,3912,3046
$GC,2356,-0.77,-146.0,347.2,-10.8,136,2360,0.12,2.05,0.00,0.000,6,0.122,0.024,2384,2486,3046
$GC,2626,-0.77,-146.0,370.2,-8.5,143,2629,0.00,2.20,0.00,0.000,4,0.000,0.048,2375,3907,3044
$GC,2687,-0.77,-146.0,375.7,-8.8,144,2690,0.00,2.03,0.00,0.000,6,0.000,0.025,2375,2500,3043
$GC,2959,-0.77,-146.0,400.8,-9.3,151,2962,0.00,2.17,0.00,0.000,4,0.000,0.049,2366,3903,3041
$GC,3030,-0.77,-146.0,407.5,-8.8,152,3033,0.00,2.03,0.00,0.000,6,0.000,0.025,2367,2500,3041
$GC,3290,-0.77,-146.0,431.0,-8.9,159,3293,0.00,2.17,0.00,0.000,4,0.000,0.051,2359,3899,3040
$GC,3312,-0.77,-146.0,433.1,-9.3,159,3315,0.00,2.05,0.00,0.000,6,0.000,0.026,2359,2491,3039
$GC,3579,-0.77,-146.0,458.5,-9.7,166,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2484,3037
$GC,3819,-0.77,-146.0,482.7,-9.9,172,3822,0.00,2.20,0.00,0.000,4,0.000,0.051,2348,3903,3035
$GC,3912,-0.77,-146.0,491.7,-9.4,174,3915,0.12,2.05,0.00,0.000,6,0.130,0.026,2383,2490,3034
$STATE,4021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4021,begin apogee
$GC,4031,-0.27,0.0,500.2,7.1,177,4157,0.47,0.00,124.10,0.990,6,0.096,0.000,2550,2483,2450
$STATE,4158,end apogee,CONTROL_FINISHED_OK
$STATE,4158,begin climb
$GC,4163,0.77,146.0,503.5,0.0,180,4305,0.85,2.28,129.00,0.936,4,0.035,0.039,2875,3860,1852
$GC,4375,0.77,146.0,461.6,35.7,185,4378,0.00,2.17,0.00,0.000,6,0.000,0.026,2884,2428,1849
$GC,4656,0.77,146.0,372.1,30.7,192,4659,0.00,2.22,0.00,0.000,4,0.000,0.042,2876,3861,1845
$GC,4700,0.77,146.0,358.1,33.5,193,4703,0.00,2.12,0.00,0.000,6,0.000,0.028,2884,2444,1845
$GC,4986,0.77,146.0,277.2,27.2,200,4989,0.00,2.20,0.00,0.000,4,0.000,0.044,2876,3864,1843
$GC,5052,0.77,146.0,259.7,26.7,201,5055,0.00,2.12,0.00,0.000,6,0.000,0.028,2885,2436,1843
$GC,5316,0.77,146.0,194.5,24.6,208,5319,0.00,2.05,0.00,0.000,4,0.000,0.030,2895,1025,1842
$GC,5405,0.77,146.0,175.2,24.0,216,5408,0.00,2.15,0.00,0.000,6,0.000,0.038,2891,2451,1841
$GC,5669,0.77,146.0,113.2,22.2,241,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2451,1841
$GC,5927,0.77,146.0,61.2,17.1,266,5930,0.00,2.12,0.00,0.000,4,0.000,0.042,2888,3859,1840
$GC,5953,0.77,146.0,56.7,16.6,268,5956,0.00,2.10,0.00,0.000,6,0.000,0.027,2897,2424,1840
$GC,6213,0.77,146.0,13.0,18.8,301,6221,0.00,2.03,0.00,0.000,4,0.000,0.027,2908,1022,1840
$STATE,6262,end climb,SURFACE_DEPTH_REACHED
$STATE,6262,begin surface coast
$FINISH,0.5,1.023548
$STATE,6273,end surface coast,CONTROL_FINISHED_OK
$STATE,6273,begin surface
$SM_CCo,6297,104.82,0.626,0,0,899,380.21
$SM_GC,0.46,0.00,0.00,104.82,0.000,0.000,0.626,37,2516,899,-8.10,0.45,380.21
$IRIDIUM_FIX,2239.35,-15820.16,021101,171755
$TT8_MAMPS,0.046787
$HUMID,2176
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.80
$XPDR_PINGS,34
$24V_AH,24.4,4.820
$10V_AH,10.7,4.062
$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,17.650,72.325,253.100,104.825,0.000,107.468,157.655,395.132,8.500,0.000,0.000,13.815,0.000,4425.465,413.288,1566.825,977.448,33.333,892.998,0.000,1390.566,0.000,0.543,0.000
$DEVICE_MAMPS,200.187,50.622,990.197,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,210.455,757.705,783.630,114.312,625.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25532,312
$CAP_FILE_SIZE,68703,0
$CFSIZE,260165632,256524288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,080812,193523,2247.120,-15804.102,43,1.0,43,10.1