version: 66.04
glider: 512
mission: 3
dive: 71
start: 8 12 112 0 54 6
data:
$ID,512
$MISSION,3
$DIVE,71
$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,-51705.668
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2600
$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,2630
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,33
$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
$GPS1,004301,2249.862,-15804.364,8,1.3,9,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-80.9
$GPS2,005324,2249.902,-15804.454,16,1.3,34,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.205,-0.145
$KALMAN_X,-137342.9,1252.6,710.2,132137.4,-6133.1
$KALMAN_Y,17432.5,197.8,512.8,-16774.2,667.6
$MHEAD_RNG_PITCHd_Wd,115.2,11844,-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,-136.3,0.0,0.0,0,91,0.00,0.00,-74.05,0.000,2,0.000,0.000,33,2612,2964
$GC,96,-0.77,-136.3,3.1,-5.3,9,114,8.62,2.05,-4.28,0.000,4,0.208,0.035,2356,1186,3198
$GC,124,-0.77,-136.3,17.2,-37.6,12,132,0.00,2.20,0.00,0.000,6,0.000,0.033,2348,2621,3199
$GC,389,-0.77,-136.3,91.7,-21.4,40,392,0.00,1.95,0.00,0.000,4,0.000,0.043,2338,3913,3199
$GC,456,-0.77,-136.3,104.9,-17.1,46,460,0.00,1.90,0.00,0.000,6,0.000,0.023,2338,2624,3199
$GC,719,-0.77,-136.3,156.6,-18.8,71,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2616,3200
$GC,967,-0.77,-136.3,200.1,-16.8,95,970,0.00,1.95,0.00,0.000,4,0.000,0.043,2330,3904,3201
$GC,1022,-0.77,-136.3,209.2,-14.8,96,1025,0.00,1.85,0.00,0.000,6,0.000,0.021,2330,2628,3201
$GC,1297,-0.77,-136.3,254.5,-16.4,103,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2620,3201
$GC,1539,-0.77,-136.3,291.1,-14.5,109,1542,0.00,2.00,0.00,0.000,4,0.000,0.025,2331,1219,3201
$GC,1567,-0.77,-136.3,294.9,-13.8,109,1570,0.00,2.12,0.00,0.000,6,0.000,0.040,2330,2633,3201
$GC,1829,-0.77,-136.3,328.5,-12.8,116,1832,0.00,1.90,0.00,0.000,4,0.000,0.046,2320,3901,3200
$GC,1889,-0.77,-136.3,336.7,-12.6,117,1892,0.10,1.83,0.00,0.000,6,0.189,0.023,2346,2619,3200
$GC,2159,-0.77,-136.3,368.8,-11.9,124,2162,0.00,2.00,0.00,0.000,4,0.000,0.027,2350,1216,3199
$GC,2182,-0.77,-136.3,371.7,-13.3,124,2185,0.00,2.12,0.00,0.000,6,0.000,0.041,2346,2635,3199
$GC,2449,-0.77,-136.3,404.0,-12.1,131,2452,0.00,1.92,0.00,0.000,4,0.000,0.050,2346,3902,3197
$GC,2472,-0.77,-136.3,406.8,-11.2,131,2475,0.00,1.85,0.00,0.000,6,0.000,0.025,2346,2630,3197
$GC,2737,-0.77,-136.3,432.7,-9.3,138,2740,0.00,2.00,0.00,0.000,4,0.000,0.029,2346,1223,3196
$GC,2781,-0.77,-136.3,436.6,-8.0,139,2784,0.00,2.12,0.00,0.000,6,0.000,0.043,2346,2633,3196
$GC,3069,-0.77,-136.3,461.1,-8.7,146,3072,0.00,1.92,0.00,0.000,4,0.000,0.051,2346,3898,3193
$GC,3108,-0.77,-136.3,464.8,-8.4,146,3113,0.00,1.83,0.00,0.000,6,0.000,0.026,2346,2626,3192
$GC,3357,-0.77,-136.3,489.0,-10.0,153,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2619,3190
$GC,3599,-0.77,-136.3,514.4,-10.6,159,3602,0.00,2.00,0.00,0.000,4,0.000,0.052,2346,3904,3189
$GC,3659,-0.77,-136.3,520.8,-9.9,160,3662,0.00,1.85,0.00,0.000,6,0.000,0.027,2346,2633,3188
$GC,3929,-0.77,-136.3,548.3,-10.0,167,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2626,3186
$GC,4171,-0.77,-136.3,570.3,-9.0,173,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2626,3184
$GC,4414,-0.77,-136.3,590.8,-8.4,179,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2626,3183
$STATE,4530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4530,begin apogee
$GC,4540,-0.27,0.0,601.4,8.7,182,4657,0.50,0.00,114.62,1.058,6,0.106,0.000,2513,2395,2640
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4662,0.77,136.3,605.7,0.0,185,4797,0.88,2.35,124.43,1.026,4,0.035,0.044,2860,3816,2083
$GC,4836,0.77,136.3,597.7,24.3,189,4840,0.00,2.20,0.00,0.000,6,0.000,0.028,2870,2399,2079
$GC,5114,0.77,136.3,526.4,24.7,196,5117,0.00,2.10,0.00,0.000,4,0.000,0.030,2881,985,2075
$GC,5169,0.77,136.3,513.4,22.2,197,5172,0.00,2.20,0.00,0.000,6,0.000,0.040,2877,2405,2074
$GC,5439,0.77,136.3,450.2,23.3,204,5442,0.00,2.20,0.00,0.000,4,0.000,0.047,2876,3826,2072
$GC,5483,0.77,136.3,439.9,23.2,205,5487,0.15,2.12,0.00,0.000,6,0.225,0.028,2851,2402,2071
$GC,5764,0.77,136.3,383.6,20.0,212,5767,0.00,2.08,0.00,0.000,4,0.000,0.031,2861,984,2070
$GC,5802,0.77,136.3,376.3,19.0,212,5808,0.00,2.17,0.00,0.000,6,0.000,0.040,2861,2405,2070
$GC,6051,0.77,136.3,326.6,19.9,219,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2405,2069
$GC,6293,0.77,136.3,281.7,18.4,225,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2405,2068
$GC,6537,0.77,136.3,244.9,14.2,231,6541,0.00,2.10,0.00,0.000,4,0.000,0.031,2871,986,2067
$GC,6785,0.77,136.3,217.0,10.5,236,6788,0.00,2.15,0.00,0.000,6,0.000,0.038,2871,2407,2067
$GC,7043,0.77,136.3,186.4,10.4,249,7046,0.00,2.15,0.00,0.000,4,0.000,0.046,2871,3813,2066
$GC,7164,0.77,136.3,172.3,12.3,260,7167,0.12,2.08,0.00,0.000,6,0.224,0.028,2854,2393,2066
$GC,7432,0.77,136.3,146.0,10.8,285,7435,0.00,2.05,0.00,0.000,4,0.000,0.030,2864,978,2066
$GC,7620,0.77,136.3,125.3,12.0,302,7623,0.00,2.15,0.00,0.000,6,0.000,0.038,2862,2408,2066
$GC,7884,0.77,136.3,93.0,11.7,327,7887,0.00,2.08,0.00,0.000,4,0.000,0.028,2871,976,2066
$GC,8016,0.81,163.4,79.7,8.7,339,8043,0.00,2.15,21.05,0.673,6,0.000,0.038,2871,2409,1972
$GC,8297,0.83,178.7,57.0,9.2,365,8315,0.00,0.00,13.48,0.631,6,0.000,0.000,2871,2409,1911
$GC,8564,0.83,178.7,24.1,13.3,395,8573,0.00,2.15,0.00,0.000,4,0.000,0.043,2871,3807,1909
$STATE,8693,end climb,SURFACE_DEPTH_REACHED
$STATE,8693,begin surface coast
$FINISH,-0.1,1.023498
$STATE,8714,end surface coast,CONTROL_FINISHED_OK
$STATE,8714,begin surface
$SM_CCo,8738,97.45,0.584,0,0,1089,380.21
$SM_GC,0.68,0.00,0.00,97.45,0.000,0.000,0.584,48,2615,1089,-7.97,-0.45,380.21
$IRIDIUM_FIX,2241.69,-15802.37,061101,000013
$TT8_MAMPS,0.046787
$HUMID,2068
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,333
$24V_AH,24.3,9.086
$10V_AH,10.6,7.509
$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,17.600,77.875,273.575,97.450,0.000,59.182,68.934,277.359,83.250,0.000,0.000,38.529,0.000,6216.395,427.085,2026.003,780.592,33.340,1011.294,0.000,1793.792,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,52.156,1057.693,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,285.901,1011.421,1042.545,158.025,800.703,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35189,423
$CAP_FILE_SIZE,77313,0
$CFSIZE,260165632,255193088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,120812,032235,2249.547,-15804.122,36,1.1,42,10.1