version: 66.04
glider: 512
mission: 3
dive: 53
start: 8 9 112 20 13 26
data:
$ID,512
$MISSION,3
$DIVE,53
$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,400
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51252.051
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2610
$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,2540
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2580
$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
$GPS1,200612,2246.904,-15801.599,11,1.1,16,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-80.1
$GPS2,201248,2246.925,-15801.660,12,1.1,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,-0.129
$KALMAN_X,-83787.9,2596.1,706.1,82010.8,-9534.7
$KALMAN_Y,5027.7,-654.5,-28.0,-8476.6,3510.7
$MHEAD_RNG_PITCHd_Wd,109.6,4555,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-82.12,0.000,2,0.000,0.000,22,2552,3108
$GC,104,-0.76,-146.0,4.2,-8.4,10,121,8.65,2.08,-1.15,0.000,4,0.205,0.034,2369,1113,3176
$GC,286,-0.76,-146.0,51.5,-14.0,30,289,0.00,2.15,0.00,0.000,6,0.000,0.040,2360,2528,3177
$GC,543,-0.76,-146.0,105.0,-18.8,54,546,0.00,2.00,0.00,0.000,4,0.000,0.023,2360,1129,3178
$GC,635,-0.76,-146.0,118.4,-12.0,62,643,0.00,2.17,0.00,0.000,6,0.000,0.040,2358,2539,3178
$GC,892,-0.76,-146.0,160.0,-16.5,87,895,0.00,2.05,0.00,0.000,4,0.000,0.045,2349,3909,3178
$GC,971,-0.76,-146.0,172.4,-14.9,94,974,0.00,1.95,0.00,0.000,6,0.000,0.022,2349,2539,3178
$GC,1229,-0.76,-146.0,213.7,-15.5,113,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2531,3178
$GC,1471,-0.76,-146.0,249.4,-14.4,119,1474,0.00,2.10,0.00,0.000,4,0.000,0.046,2346,3904,3178
$GC,1526,-0.76,-146.0,256.9,-12.5,120,1529,0.00,1.95,0.00,0.000,6,0.000,0.021,2346,2534,3178
$GC,1801,-0.76,-146.0,295.3,-14.0,127,1804,0.00,2.10,0.00,0.000,4,0.000,0.044,2336,3909,3177
$GC,1920,-0.76,-146.0,310.8,-11.6,129,1923,0.00,1.95,0.00,0.000,6,0.000,0.022,2336,2540,3177
$GC,2176,-0.76,-146.0,342.1,-12.1,136,2179,0.00,2.10,0.00,0.000,4,0.000,0.045,2331,3909,3176
$GC,2231,-0.76,-146.0,348.8,-10.9,137,2234,0.12,1.98,0.00,0.000,6,0.129,0.023,2366,2539,3176
$GC,2507,-0.76,-146.0,372.9,-8.6,144,2510,0.00,2.10,0.00,0.000,4,0.000,0.047,2359,3902,3174
$GC,2546,-0.76,-146.0,376.6,-8.9,144,2551,0.00,1.95,0.00,0.000,6,0.000,0.023,2359,2536,3173
$GC,2796,-0.76,-146.0,401.8,-10.5,151,2800,0.00,2.12,0.00,0.000,4,0.000,0.048,2359,3911,3170
$GC,2835,-0.76,-146.0,406.1,-10.4,151,2840,0.00,1.98,0.00,0.000,6,0.000,0.025,2358,2534,3171
$GC,3084,-0.76,-146.0,430.8,-9.9,158,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2527,3169
$GC,3326,-0.76,-146.0,452.6,-8.8,164,3329,0.00,2.12,0.00,0.000,4,0.000,0.050,2359,3903,3167
$GC,3386,-0.76,-146.0,457.4,-7.5,165,3389,0.00,1.98,0.00,0.000,6,0.000,0.025,2358,2539,3167
$GC,3657,-0.76,-146.0,480.5,-8.6,172,3658,0.00,0.00,-0.08,0.000,6,0.000,0.000,2358,2532,3190
$GC,3899,-0.76,-146.0,502.5,-9.3,178,3902,0.00,2.12,0.00,0.000,4,0.000,0.051,2359,3905,3188
$GC,3964,-0.76,-146.0,508.2,-8.2,179,3967,0.00,1.98,0.00,0.000,6,0.000,0.028,2359,2542,3188
$GC,4231,-0.76,-146.0,530.6,-8.3,186,4234,0.00,2.03,0.00,0.000,4,0.000,0.029,2358,1131,3185
$GC,4259,-0.76,-146.0,533.1,-8.3,186,4262,0.00,2.15,0.00,0.000,6,0.000,0.044,2358,2546,3185
$GC,4519,-0.76,-146.0,552.6,-7.7,193,4522,0.00,2.08,0.00,0.000,4,0.000,0.054,2358,3895,3184
$GC,4574,-0.76,-146.0,556.8,-7.3,194,4577,0.00,1.98,0.00,0.000,6,0.000,0.028,2358,2532,3183
$GC,4852,-0.76,-146.0,579.9,-8.5,201,4855,0.00,2.15,0.00,0.000,4,0.000,0.054,2358,3900,3182
$GC,4880,-0.76,-146.0,582.5,-8.1,201,4883,0.00,1.98,0.00,0.000,6,0.000,0.028,2358,2541,3182
$STATE,5094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5094,begin apogee
$GC,5105,-0.27,0.0,600.7,8.2,207,5234,0.50,0.00,127.35,1.080,6,0.102,0.000,2530,2421,2580
$STATE,5235,end apogee,CONTROL_FINISHED_OK
$STATE,5235,begin climb
$GC,5239,0.76,146.0,605.6,0.0,210,5380,0.88,0.00,131.93,1.020,6,0.035,0.000,2877,2421,1984
$GC,5611,0.76,146.0,532.6,29.5,219,5614,0.00,2.08,0.00,0.000,4,0.000,0.030,2887,1037,1974
$GC,5700,0.76,146.0,508.8,25.3,221,5704,0.12,2.17,0.00,0.000,6,0.212,0.041,2861,2452,1973
$GC,5986,0.76,146.0,435.4,24.7,228,5989,0.00,2.17,0.00,0.000,4,0.000,0.047,2859,3858,1972
$GC,6074,0.76,146.0,412.8,25.6,230,6077,0.00,2.10,0.00,0.000,6,0.000,0.029,2867,2449,1971
$GC,6360,0.76,146.0,345.0,23.7,237,6363,0.00,2.17,0.00,0.000,4,0.000,0.044,2863,3858,1970
$GC,6382,0.76,146.0,339.7,23.4,237,6386,0.00,2.12,0.00,0.000,6,0.000,0.028,2872,2433,1970
$GC,6647,0.76,146.0,279.3,22.2,244,6650,0.00,2.20,0.00,0.000,4,0.000,0.045,2873,3858,1969
$GC,6729,0.76,146.0,261.4,22.2,245,6735,0.00,2.12,0.00,0.000,6,0.000,0.028,2882,2449,1968
$GC,6977,0.76,146.0,213.5,19.0,252,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2443,1968
$GC,7226,0.76,146.0,168.0,18.3,270,7229,0.00,2.08,0.00,0.000,4,0.000,0.029,2893,1013,1968
$GC,7347,0.76,146.0,146.9,17.5,281,7350,0.12,2.15,0.00,0.000,6,0.212,0.038,2862,2444,1967
$GC,7609,0.76,146.0,106.1,13.1,305,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2445,1967
$GC,7868,0.78,160.1,77.4,9.3,330,7882,0.00,2.12,10.30,0.650,4,0.000,0.027,2871,1019,1927
$GC,7950,0.78,160.1,68.8,11.0,337,7954,0.00,2.15,0.00,0.000,6,0.000,0.037,2871,2454,1925
$GC,8208,0.78,160.1,35.4,13.4,361,8211,0.00,2.12,0.00,0.000,4,0.000,0.044,2871,3859,1925
$GC,8340,0.78,160.1,16.0,15.5,381,8348,0.00,2.10,0.00,0.000,6,0.000,0.025,2881,2437,1925
$STATE,8419,end climb,SURFACE_DEPTH_REACHED
$STATE,8419,begin surface coast
$FINISH,-0.1,1.023428
$STATE,8435,end surface coast,CONTROL_FINISHED_OK
$STATE,8435,begin surface
$SM_CCo,8457,106.20,0.625,0,0,1029,380.21
$SM_GC,0.62,0.00,0.00,106.20,0.000,0.000,0.625,41,2570,1029,-8.03,0.82,380.21
$IRIDIUM_FIX,2237.01,-15802.37,031101,191956
$TT8_MAMPS,0.046787
$HUMID,2127
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.90
$XPDR_PINGS,56
$24V_AH,24.3,6.593
$10V_AH,10.6,5.366
$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,17.575,83.400,269.575,106.200,0.000,30.801,37.473,203.912,14.000,0.000,0.000,18.068,0.000,5930.124,441.376,1968.237,611.986,33.314,1023.468,0.000,1746.505,0.000,0.545,0.000
$DEVICE_MAMPS,212.459,64.428,1079.936,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.676,934.388,966.117,129.522,765.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32088,399
$CAP_FILE_SIZE,74633,0
$CFSIZE,260165632,256020480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,090812,223724,2246.830,-15801.459,42,1.3,43,10.1