version: 66.04
glider: 512
mission: 3
dive: 54
start: 8 9 112 22 48 33
data:
$ID,512
$MISSION,3
$DIVE,54
$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,-51271.168
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,223724,2246.830,-15801.459,42,1.3,43,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-79.2
$GPS2,224755,2246.893,-15801.580,18,1.2,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.215,-0.146
$KALMAN_X,-84571.5,1855.6,539.7,83840.8,-6706.2
$KALMAN_Y,6083.2,-390.3,-114.8,-9768.1,2884.6
$MHEAD_RNG_PITCHd_Wd,114.1,4424,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,103,0.00,0.00,-81.85,0.000,6,0.000,0.000,20,2569,3177
$GC,108,-0.76,-146.0,4.5,-9.4,10,124,8.68,0.00,0.00,0.000,6,0.204,0.000,2359,2568,3178
$GC,383,-0.76,-146.0,86.8,-20.7,39,386,0.00,2.00,0.00,0.000,4,0.000,0.042,2350,3879,3179
$GC,452,-0.76,-146.0,100.2,-16.2,45,455,0.00,1.95,0.00,0.000,6,0.000,0.022,2351,2533,3179
$GC,714,-0.76,-146.0,146.7,-17.9,70,717,0.00,2.08,0.00,0.000,4,0.000,0.044,2345,3877,3180
$GC,751,-0.76,-146.0,152.8,-17.5,73,754,0.00,1.92,0.00,0.000,6,0.000,0.022,2345,2537,3179
$GC,1014,-0.76,-146.0,197.9,-16.9,98,1017,0.00,2.05,0.00,0.000,4,0.000,0.042,2335,3870,3180
$GC,1074,-0.76,-146.0,208.3,-15.0,100,1077,0.00,1.92,0.00,0.000,6,0.000,0.022,2335,2532,3180
$GC,1344,-0.76,-146.0,250.4,-15.5,107,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2523,3181
$GC,1586,-0.76,-146.0,284.5,-14.2,113,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2523,3181
$GC,1828,-0.76,-146.0,316.2,-13.0,119,1831,0.00,2.08,0.00,0.000,4,0.000,0.045,2332,3875,3180
$GC,1909,-0.76,-146.0,326.1,-11.5,120,1917,0.08,1.95,0.00,0.000,6,0.123,0.024,2359,2532,3180
$GC,2158,-0.76,-146.0,349.9,-9.3,127,2161,0.00,2.08,0.00,0.000,4,0.000,0.048,2359,3870,3178
$GC,2203,-0.76,-146.0,353.8,-8.4,128,2206,0.00,1.90,0.00,0.000,6,0.000,0.024,2358,2539,3178
$GC,2489,-0.76,-146.0,380.1,-9.2,135,2492,0.00,2.08,0.00,0.000,4,0.000,0.048,2359,3874,3177
$GC,2549,-0.76,-146.0,385.3,-7.8,136,2552,0.00,1.92,0.00,0.000,6,0.000,0.024,2358,2533,3176
$GC,2819,-0.76,-146.0,409.8,-9.2,143,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2526,3173
$GC,3061,-0.76,-146.0,432.4,-9.3,149,3064,0.00,2.08,0.00,0.000,4,0.000,0.051,2359,3864,3172
$GC,3122,-0.76,-146.0,437.8,-9.0,150,3125,0.00,1.92,0.00,0.000,6,0.000,0.025,2358,2532,3172
$GC,3392,-0.76,-146.0,462.8,-9.3,157,3395,0.00,2.10,0.00,0.000,4,0.000,0.051,2359,3876,3170
$GC,3415,-0.76,-146.0,464.9,-9.0,157,3418,0.00,1.92,0.00,0.000,6,0.000,0.027,2359,2535,3170
$GC,3680,-0.76,-146.0,488.2,-8.8,164,3683,0.00,2.10,0.00,0.000,4,0.000,0.052,2358,3875,3168
$GC,3740,-0.76,-146.0,492.9,-6.8,165,3743,0.00,1.95,0.00,0.000,6,0.000,0.027,2359,2529,3167
$GC,4010,-0.76,-146.0,514.3,-7.9,172,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2522,3166
$GC,4252,-0.76,-146.0,532.5,-7.6,178,4255,0.00,2.10,0.00,0.000,4,0.000,0.054,2358,3861,3163
$GC,4297,-0.76,-146.0,536.0,-7.0,179,4300,0.00,1.92,0.00,0.000,6,0.000,0.028,2359,2540,3163
$GC,4585,-0.76,-146.0,559.2,-8.3,186,4588,0.00,2.08,0.00,0.000,4,0.000,0.054,2359,3861,3161
$GC,4629,-0.76,-146.0,563.2,-7.8,187,4632,0.00,1.92,0.00,0.000,6,0.000,0.028,2358,2539,3161
$GC,4916,-0.76,-146.0,587.7,-8.5,194,4919,0.00,2.10,0.00,0.000,4,0.000,0.055,2358,3865,3159
$GC,4955,-0.76,-146.0,591.0,-7.9,194,4960,0.00,1.95,0.00,0.000,6,0.000,0.029,2359,2531,3158
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5088,-0.27,0.0,601.4,8.2,198,5214,0.50,0.00,123.62,1.078,6,0.107,0.000,2528,2426,2580
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5219,0.76,146.0,606.5,0.0,201,5361,0.88,2.17,130.98,1.022,4,0.037,0.030,2882,1044,1983
$GC,5543,0.76,146.0,549.6,27.4,208,5546,0.00,2.15,0.00,0.000,6,0.000,0.041,2878,2421,1974
$GC,5797,0.76,146.0,474.2,29.0,215,5801,0.00,2.03,0.00,0.000,4,0.000,0.029,2886,1050,1973
$GC,5815,0.76,146.0,469.3,29.0,215,5818,0.12,2.15,0.00,0.000,6,0.220,0.041,2861,2446,1972
$GC,6079,0.76,146.0,399.3,26.1,222,6083,0.00,2.08,0.00,0.000,4,0.000,0.031,2870,1045,1971
$GC,6134,0.76,146.0,386.1,23.2,223,6137,0.00,2.15,0.00,0.000,6,0.000,0.041,2870,2446,1970
$GC,6410,0.76,146.0,322.1,22.7,230,6413,0.00,2.15,0.00,0.000,4,0.000,0.045,2863,3855,1970
$GC,6539,0.76,146.0,292.9,22.5,233,6542,0.00,2.08,0.00,0.000,6,0.000,0.030,2871,2457,1968
$GC,6826,0.76,146.0,235.6,19.2,240,6829,0.00,2.17,0.00,0.000,4,0.000,0.048,2872,3858,1968
$GC,6859,0.76,146.0,229.1,20.1,240,6862,0.00,2.12,0.00,0.000,6,0.000,0.029,2881,2419,1967
$GC,7119,0.76,146.0,184.0,17.3,253,7122,0.00,2.00,0.00,0.000,4,0.000,0.030,2891,1031,1967
$GC,7317,0.76,146.0,149.8,15.3,271,7320,0.12,2.12,0.00,0.000,6,0.218,0.039,2863,2445,1967
$GC,7579,0.76,146.0,106.4,16.2,295,7583,0.00,2.12,0.00,0.000,4,0.000,0.044,2862,3860,1967
$GC,7692,0.76,146.0,86.6,16.8,305,7699,0.00,2.10,0.00,0.000,6,0.000,0.027,2871,2449,1966
$GC,7950,0.76,146.0,53.3,11.3,330,7953,0.00,2.05,0.00,0.000,4,0.000,0.027,2882,1015,1967
$GC,7965,0.76,146.0,51.8,10.3,331,7968,0.00,2.12,0.00,0.000,6,0.000,0.037,2875,2442,1966
$GC,8223,0.77,152.7,25.9,9.7,359,8232,0.00,2.12,4.28,0.456,4,0.000,0.041,2875,3858,1956
$STATE,8412,end climb,SURFACE_DEPTH_REACHED
$STATE,8412,begin surface coast
$FINISH,-0.1,1.023410
$STATE,8432,end surface coast,CONTROL_FINISHED_OK
$STATE,8432,begin surface
$SM_CCo,8457,115.70,0.622,0,0,1029,380.21
$SM_GC,0.58,0.00,0.00,115.70,0.000,0.000,0.622,36,2494,1029,-8.04,-1.30,380.21
$IRIDIUM_FIX,2237.01,-15800.20,031101,202005
$TT8_MAMPS,0.048321
$HUMID,2121
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.90
$XPDR_PINGS,52
$24V_AH,24.3,6.715
$10V_AH,10.6,5.476
$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,17.650,86.025,258.875,115.700,0.000,25.320,33.963,363.176,13.000,0.000,0.000,18.489,0.000,5921.178,432.324,1985.281,853.263,33.319,1026.334,0.000,1765.802,0.000,0.545,0.000
$DEVICE_MAMPS,220.129,65.962,1078.402,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,270.048,929.040,955.985,147.278,779.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31949,399
$CAP_FILE_SIZE,80376,0
$CFSIZE,260165632,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,1
$GPS,100812,011213,2246.680,-15801.294,15,2.0,16,10.1