version: 66.04
glider: 512
mission: 3
dive: 57
start: 8 10 112 7 16 28
data:
$ID,512
$MISSION,3
$DIVE,57
$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,140
$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,-51399.352
$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,2580
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2640
$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
$GPS1,070515,2246.528,-15801.703,12,3.5,31,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-78.4
$GPS2,071550,2246.569,-15801.793,14,3.9,33,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,-0.038
$KALMAN_X,-90412.7,-12.0,256.8,91480.9,-4502.2
$KALMAN_Y,8440.2,-194.6,-289.7,-12748.4,1888.7
$MHEAD_RNG_PITCHd_Wd,88.5,4221,-18.2,-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,-0.77,-136.3,0.0,0.0,0,98,0.00,0.00,-80.85,0.000,6,0.000,0.000,21,2611,3197
$GC,103,-0.77,-136.3,5.0,-10.9,10,120,9.00,2.12,0.00,0.000,4,0.208,0.021,2442,1150,3198
$GC,130,-0.77,-136.3,22.4,-50.6,13,137,0.00,2.17,0.00,0.000,6,0.000,0.043,2434,2529,3199
$GC,391,-0.77,-136.3,65.2,-13.5,39,394,0.00,2.05,0.00,0.000,4,0.000,0.046,2423,3864,3199
$GC,500,-0.77,-136.3,75.7,-7.1,49,503,0.00,1.85,0.00,0.000,6,0.000,0.022,2423,2568,3199
$GC,763,-0.77,-136.3,98.7,-9.2,74,766,0.00,1.98,0.00,0.000,4,0.000,0.025,2425,1181,3200
$GC,788,-0.77,-136.3,101.0,-9.0,76,792,0.12,2.05,0.00,0.000,6,0.100,0.038,2457,2543,3201
$GC,1057,-0.77,-136.3,115.1,-5.7,101,1060,0.00,2.08,0.00,0.000,4,0.000,0.048,2454,3907,3201
$GC,1104,-0.77,-136.3,118.1,-6.0,105,1107,0.00,1.90,0.00,0.000,6,0.000,0.022,2454,2561,3202
$GC,1367,-0.77,-136.3,142.6,-10.3,130,1370,0.00,1.92,0.00,0.000,4,0.000,0.024,2458,1192,3202
$GC,1456,-0.77,-136.3,152.4,-11.2,138,1459,0.00,2.10,0.00,0.000,6,0.000,0.038,2458,2592,3202
$GC,1719,-0.77,-136.3,178.1,-9.4,163,1722,0.00,1.95,0.00,0.000,4,0.000,0.046,2458,3893,3202
$GC,1872,-0.77,-136.3,191.5,-8.8,177,1875,0.00,1.83,0.00,0.000,6,0.000,0.022,2458,2586,3203
$GC,2140,-0.77,-136.3,214.7,-8.7,191,2144,0.00,2.00,0.00,0.000,4,0.000,0.047,2458,3895,3202
$GC,2163,-0.77,-136.3,217.0,-9.1,191,2166,0.00,1.85,0.00,0.000,6,0.000,0.022,2458,2573,3202
$GC,2428,-0.77,-136.3,239.8,-8.8,198,2431,0.00,2.03,0.00,0.000,4,0.000,0.047,2458,3896,3202
$GC,2579,-0.77,-136.3,251.9,-8.3,201,2582,0.00,1.85,0.00,0.000,6,0.000,0.021,2457,2569,3201
$GC,2844,-0.77,-136.3,272.4,-8.2,208,2847,0.00,1.92,0.00,0.000,4,0.000,0.024,2459,1197,3201
$GC,3092,-0.77,-136.3,294.0,-9.0,213,3095,0.00,2.08,0.00,0.000,6,0.000,0.037,2458,2585,3200
$GC,3346,-0.77,-136.3,315.8,-8.6,220,3349,0.00,1.98,0.00,0.000,4,0.000,0.048,2458,3897,3199
$GC,3476,-0.77,-136.3,324.7,-6.7,223,3479,0.00,1.83,0.00,0.000,6,0.000,0.023,2461,2594,3198
$GC,3762,-0.77,-136.3,345.3,-8.0,230,3765,0.00,2.00,0.00,0.000,4,0.000,0.025,2461,1168,3197
$GC,3775,-0.77,-136.3,346.4,-8.2,230,3778,0.00,2.12,0.00,0.000,6,0.000,0.038,2461,2584,3197
$GC,4050,-0.77,-136.3,370.8,-9.5,237,4054,0.00,2.00,0.00,0.000,4,0.000,0.025,2461,1173,3195
$GC,4100,-0.77,-136.3,375.6,-8.9,238,4103,0.00,2.10,0.00,0.000,6,0.000,0.038,2461,2582,3195
$GC,4381,-0.77,-136.3,397.1,-7.7,245,4384,0.00,2.00,0.00,0.000,4,0.000,0.025,2461,1171,3193
$GC,4629,-0.77,-136.3,417.5,-8.8,250,4632,0.00,2.12,0.00,0.000,6,0.000,0.039,2461,2585,3192
$GC,4883,-0.77,-136.3,442.2,-10.2,257,4886,0.00,2.00,0.00,0.000,4,0.000,0.051,2461,3899,3190
$GC,4905,-0.77,-136.3,444.7,-10.7,257,4909,0.00,1.90,0.00,0.000,6,0.000,0.025,2461,2580,3189
$GC,5170,-0.77,-136.3,469.9,-9.5,264,5173,0.00,2.03,0.00,0.000,4,0.000,0.050,2461,3893,3189
$GC,5242,-0.77,-136.3,476.2,-9.4,265,5245,0.00,1.88,-0.08,0.000,6,0.000,0.025,2461,2573,3212
$GC,5501,-0.77,-136.3,496.9,-8.2,272,5504,0.00,1.98,0.00,0.000,4,0.000,0.028,2461,1184,3212
$GC,5561,-0.77,-136.3,501.5,-6.9,273,5565,0.00,2.10,0.00,0.000,6,0.000,0.041,2461,2578,3211
$GC,5832,-0.77,-136.3,520.3,-7.2,280,5835,0.00,2.03,0.00,0.000,4,0.000,0.053,2461,3900,3209
$GC,5913,-0.77,-136.3,527.4,-10.0,281,5919,0.00,1.90,0.00,0.000,6,0.000,0.026,2461,2561,3208
$GC,6162,-0.77,-136.3,549.3,-9.1,288,6165,0.00,1.98,0.00,0.000,4,0.000,0.028,2461,1181,3207
$GC,6228,-0.77,-136.3,555.3,-8.6,289,6231,0.00,2.10,0.00,0.000,6,0.000,0.041,2461,2579,3207
$GC,6495,-0.77,-136.3,576.9,-8.6,296,6498,0.00,2.03,0.00,0.000,4,0.000,0.054,2461,3900,3205
$GC,6560,-0.77,-136.3,582.6,-9.0,297,6563,0.00,1.88,0.00,0.000,6,0.000,0.028,2461,2591,3204
$STATE,6821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6821,begin apogee
$GC,6831,-0.27,0.0,603.5,8.3,304,6953,0.40,0.00,120.43,1.098,6,0.052,0.000,2630,2429,2640
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6959,0.77,136.3,612.3,0.0,307,7085,0.88,2.30,120.80,1.052,4,0.051,0.041,2958,3830,2083
$GC,7117,0.77,136.3,605.1,27.5,310,7125,0.00,2.20,0.00,0.000,6,0.000,0.026,2967,2424,2079
$GC,7366,0.77,136.3,532.9,27.7,317,7370,0.00,2.20,0.00,0.000,4,0.000,0.041,2967,3839,2075
$GC,7512,0.77,136.3,490.5,28.6,320,7515,0.00,2.12,0.00,0.000,6,0.000,0.028,2977,2407,2073
$GC,7782,0.77,136.3,420.7,25.4,327,7785,0.00,2.20,0.00,0.000,4,0.000,0.042,2971,3835,2071
$GC,7810,0.77,136.3,413.4,26.7,327,7813,0.00,2.10,0.00,0.000,6,0.000,0.028,2979,2426,2071
$GC,8069,0.77,136.3,352.7,22.9,334,8073,0.12,2.20,0.00,0.000,4,0.237,0.041,2954,3843,2071
$GC,8230,0.77,136.3,320.0,22.1,337,8233,0.00,2.12,0.00,0.000,6,0.000,0.028,2962,2409,2070
$GC,8484,0.77,136.3,273.7,17.8,344,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2403,2070
$GC,8726,0.77,136.3,228.7,18.8,350,8730,0.00,2.05,0.00,0.000,4,0.000,0.031,2973,1002,2069
$GC,8867,0.77,136.3,203.2,16.1,353,8870,0.00,2.15,0.00,0.000,6,0.000,0.038,2971,2436,2068
$GC,9126,0.77,136.3,167.7,11.3,376,9129,0.00,2.08,0.00,0.000,4,0.000,0.029,2979,1009,2068
$GC,9204,0.78,141.9,159.8,9.7,383,9207,0.00,2.10,0.00,0.000,6,0.000,0.036,2979,2421,2068
$GC,9467,0.78,141.9,131.8,10.4,408,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2421,2068
$GC,9725,0.78,141.9,101.8,12.2,433,9728,0.00,2.03,0.00,0.000,4,0.000,0.027,2988,1004,2068
$GC,9973,0.91,244.0,80.3,5.0,456,10069,0.00,2.10,85.03,0.714,6,0.000,0.035,2986,2423,1642
$STATE,10295,end climb,SURFACE_DEPTH_REACHED
$STATE,10295,begin surface coast
$FINISH,0.6,1.023471
$STATE,10301,end surface coast,CONTROL_FINISHED_OK
$STATE,10301,begin surface
$SM_CCo,10324,59.10,0.627,0,0,1090,380.21
$SM_GC,0.60,0.00,0.00,59.10,0.000,0.000,0.627,33,2594,1090,-8.33,0.40,380.21
$IRIDIUM_FIX,2239.35,-15802.37,041101,070728
$TT8_MAMPS,0.047554
$HUMID,2128
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.90
$XPDR_PINGS,117
$24V_AH,24.3,7.105
$10V_AH,10.6,5.845
$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,18.125,106.025,326.250,59.100,0.000,54.268,72.229,272.677,29.250,0.000,0.000,34.047,0.000,7140.455,427.625,2602.033,832.800,33.341,1218.556,0.000,2320.123,0.000,0.544,0.000
$DEVICE_MAMPS,237.003,53.690,1097.577,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,333.740,1184.780,1226.548,157.265,838.151,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41400,494
$CAP_FILE_SIZE,97469,0
$CFSIZE,260165632,255811584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,100812,101035,2246.842,-15802.295,32,1.0,32,10.1