version: 66.04
glider: 512
mission: 3
dive: 64
start: 8 11 112 6 14 29
data:
$ID,512
$MISSION,3
$DIVE,64
$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,549.70831
$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,-51551.387
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2640
$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,2610
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,36
$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
$GPS1,053929,2247.625,-15804.364,32,1.5,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-77.1
$GPS2,061351,2247.631,-15804.800,14,3.3,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.260,-0.008
$KALMAN_X,-116073.9,334.7,-14.5,111948.0,-4049.1
$KALMAN_Y,13804.3,140.7,-455.4,-16314.0,655.3
$MHEAD_RNG_PITCHd_Wd,81.7,9537,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.76,-146.0,0.0,0.0,0,128,0.00,0.00,-106.10,0.000,6,0.000,0.000,17,2564,3237
$GC,133,-0.76,-146.0,4.9,-9.7,13,150,8.88,1.98,0.00,0.000,4,0.210,0.018,2394,1157,3238
$GC,160,-0.76,-146.0,22.4,-49.9,16,169,0.00,2.25,0.00,0.000,6,0.000,0.039,2385,2604,3239
$GC,426,-0.76,-146.0,84.1,-18.4,42,429,0.00,1.98,0.00,0.000,4,0.000,0.045,2375,3908,3239
$GC,526,-0.76,-146.0,99.4,-11.7,51,529,0.00,1.85,0.00,0.000,6,0.000,0.021,2375,2608,3238
$GC,789,-0.76,-146.0,142.0,-16.6,76,792,0.00,2.00,0.00,0.000,4,0.000,0.025,2376,1199,3238
$GC,825,-0.76,-146.0,147.6,-15.3,79,828,0.00,2.12,0.00,0.000,6,0.000,0.038,2372,2616,3238
$GC,1088,-0.76,-146.0,185.1,-13.3,104,1091,0.00,1.95,0.00,0.000,4,0.000,0.045,2362,3911,3238
$GC,1134,-0.76,-146.0,190.9,-11.7,108,1137,0.12,1.88,0.00,0.000,6,0.128,0.021,2397,2606,3238
$GC,1400,-0.76,-146.0,213.4,-8.2,122,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2600,3237
$GC,1642,-0.76,-146.0,233.0,-8.2,128,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2599,3237
$GC,1884,-0.76,-146.0,253.5,-8.5,134,1887,0.00,2.00,0.00,0.000,4,0.000,0.047,2397,3906,3236
$GC,1918,-0.76,-146.0,256.3,-7.4,134,1921,0.00,1.85,0.00,0.000,6,0.000,0.022,2397,2593,3236
$GC,2174,-0.76,-146.0,274.1,-7.0,141,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2585,3234
$GC,2414,-0.76,-146.0,291.7,-7.4,147,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2585,3233
$GC,2656,-0.76,-146.0,308.5,-6.8,153,2659,0.00,2.03,0.00,0.000,4,0.000,0.048,2397,3910,3231
$GC,2695,-0.76,-146.0,310.9,-5.8,153,2700,0.00,1.88,0.00,0.000,6,0.000,0.024,2397,2594,3230
$GC,2944,-0.76,-146.0,325.5,-5.7,160,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2588,3228
$GC,3188,-0.76,-146.0,339.8,-6.0,166,3191,0.00,2.03,0.00,0.000,4,0.000,0.049,2397,3902,3227
$GC,3221,-0.76,-146.0,341.9,-5.3,166,3225,0.00,1.83,-0.08,0.000,6,0.000,0.025,2397,2614,3247
$GC,3476,-0.76,-146.0,355.3,-5.2,173,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2608,3246
$GC,3718,-0.76,-146.0,368.6,-5.7,179,3721,0.00,1.98,0.00,0.000,4,0.000,0.051,2397,3899,3244
$GC,3740,-0.76,-146.0,369.9,-5.7,179,3744,0.00,1.88,0.00,0.000,6,0.000,0.025,2397,2604,3243
$GC,4008,-0.76,-146.0,389.3,-7.9,186,4011,0.00,1.98,0.00,0.000,4,0.000,0.027,2397,1206,3242
$GC,4057,-0.76,-146.0,393.5,-7.6,187,4060,0.00,2.12,0.00,0.000,6,0.000,0.042,2397,2619,3242
$GC,4338,-0.76,-146.0,412.4,-7.1,194,4341,0.00,1.95,0.00,0.000,4,0.000,0.051,2398,3904,3241
$GC,4415,-0.76,-146.0,418.7,-8.3,195,4418,0.00,1.85,0.00,0.000,6,0.000,0.026,2403,2602,3240
$GC,4669,-0.76,-146.0,440.8,-9.2,202,4672,0.00,2.03,0.00,0.000,4,0.000,0.051,2403,3906,3239
$GC,4718,-0.76,-146.0,445.8,-10.2,203,4721,0.00,1.88,0.00,0.000,6,0.000,0.027,2403,2601,3238
$GC,4999,-0.76,-146.0,471.9,-9.3,210,5003,0.00,2.03,0.00,0.000,4,0.000,0.051,2403,3905,3236
$GC,5046,-0.76,-146.0,475.9,-9.1,211,5049,0.00,1.88,0.00,0.000,6,0.000,0.027,2403,2598,3235
$GC,5332,-0.76,-146.0,498.1,-7.7,218,5335,0.00,2.03,0.00,0.000,4,0.000,0.052,2403,3898,3234
$GC,5377,-0.76,-146.0,501.4,-7.3,219,5380,0.00,1.85,0.00,0.000,6,0.000,0.027,2403,2612,3233
$GC,5665,-0.76,-146.0,523.7,-8.2,226,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2604,3232
$GC,5905,-0.76,-146.0,544.5,-8.6,232,5908,0.00,2.00,0.00,0.000,4,0.000,0.053,2403,3895,3230
$GC,5955,-0.76,-146.0,548.8,-8.8,233,5958,0.00,1.88,0.00,0.000,6,0.000,0.028,2404,2598,3230
$GC,6236,-0.76,-146.0,570.5,-7.8,240,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2589,3229
$GC,6480,-0.76,-146.0,588.2,-7.2,246,6483,0.00,2.00,0.00,0.000,4,0.000,0.030,2408,1201,3227
$GC,6502,-0.76,-146.0,589.8,-6.6,246,6505,0.00,2.15,0.00,0.000,6,0.000,0.043,2408,2612,3228
$STATE,6684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6684,begin apogee
$GC,6695,-0.27,0.0,602.4,7.0,251,6822,0.40,0.00,125.18,1.081,6,0.047,0.000,2578,2399,2640
$STATE,6822,end apogee,CONTROL_FINISHED_OK
$STATE,6822,begin climb
$GC,6827,0.76,146.0,609.2,0.0,254,6970,0.85,2.20,130.85,1.025,4,0.058,0.030,2896,1011,2043
$GC,7142,0.76,146.0,563.4,24.9,261,7145,0.00,2.17,0.00,0.000,6,0.000,0.039,2891,2406,2035
$GC,7406,0.76,146.0,496.9,24.4,268,7409,0.00,2.10,0.00,0.000,4,0.000,0.030,2900,997,2033
$GC,7424,0.76,146.0,492.4,25.3,268,7427,0.00,2.17,0.00,0.000,6,0.000,0.042,2900,2402,2033
$GC,7694,0.76,146.0,427.5,23.7,275,7697,0.00,2.17,0.00,0.000,4,0.000,0.048,2900,3813,2031
$GC,7743,0.76,146.0,415.1,25.7,276,7746,0.00,2.08,0.00,0.000,6,0.000,0.028,2909,2412,2030
$GC,8024,0.76,146.0,350.1,22.9,283,8027,0.00,2.17,0.00,0.000,4,0.000,0.045,2905,3819,2030
$GC,8127,0.76,146.0,326.5,24.5,285,8130,0.00,2.10,0.00,0.000,6,0.000,0.028,2913,2398,2029
$GC,8397,0.76,146.0,271.3,20.0,292,8400,0.00,2.05,0.00,0.000,4,0.000,0.029,2925,981,2029
$GC,8457,0.76,146.0,258.9,21.4,293,8461,0.12,2.15,0.00,0.000,6,0.229,0.038,2892,2411,2029
$GC,8722,0.76,146.0,209.0,18.7,300,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2412,2029
$GC,8971,0.76,146.0,170.3,13.9,318,8974,0.00,2.08,0.00,0.000,4,0.000,0.029,2900,983,2028
$GC,9102,0.76,146.0,152.2,13.6,330,9105,0.00,2.12,0.00,0.000,6,0.000,0.038,2901,2400,2028
$GC,9366,0.76,146.0,117.0,13.4,355,9369,0.00,2.12,0.00,0.000,4,0.000,0.044,2901,3810,2028
$GC,9404,0.76,146.0,110.5,16.4,358,9413,0.00,2.10,0.00,0.000,6,0.000,0.026,2910,2379,2028
$GC,9663,0.76,146.0,76.9,10.2,383,9666,0.00,1.98,0.00,0.000,4,0.000,0.027,2922,989,2028
$GC,9794,0.86,221.5,67.0,6.5,395,9863,0.00,2.10,58.72,0.696,6,0.000,0.035,2917,2409,1737
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,0.0,1.023435
$STATE,10119,end surface coast,CONTROL_FINISHED_OK
$STATE,10119,begin surface
$SM_CCo,10142,153.07,0.614,0,0,399,549.71
$SM_GC,0.65,0.00,0.00,153.07,0.000,0.000,0.614,36,2629,399,-8.12,0.51,549.71
$IRIDIUM_FIX,2239.35,-15802.37,051101,060627
$TT8_MAMPS,0.046787
$HUMID,2092
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.90
$XPDR_PINGS,68
$24V_AH,24.3,8.216
$10V_AH,10.7,6.769
$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,17.825,93.500,314.750,153.075,0.000,145.562,184.434,1278.996,17.000,0.000,0.000,34.314,0.000,7674.805,519.343,2087.469,2059.686,33.353,1185.385,0.000,1826.723,0.000,0.544,0.000
$DEVICE_MAMPS,229.333,52.923,1080.703,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,294.471,952.092,981.172,127.489,701.474,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35196,436
$CAP_FILE_SIZE,106086,0
$CFSIZE,260165632,255430656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,110812,090706,2247.788,-15804.880,30,2.0,30,10.1