version: 66.04
glider: 512
mission: 3
dive: 77
start: 8 12 112 16 25 19
data:
$ID,512
$MISSION,3
$DIVE,77
$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,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,-51841.957
$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,56
$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
$GPS1,155905,2248.886,-15804.050,65,0.9,66,10.1
$_CALLS,5
$_XMS_NAKs,52
$_XMS_TOUTs,1
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-78.7
$GPS2,162437,2248.916,-15804.428,15,1.0,15,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.241,0.073
$KALMAN_X,-149964.9,56.8,426.4,146292.3,-5100.7
$KALMAN_Y,21761.8,-713.8,215.5,-21716.6,1237.4
$MHEAD_RNG_PITCHd_Wd,63.0,10477,-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,-136.3,0.0,0.0,0,94,0.00,0.00,-76.62,0.000,2,0.000,0.000,13,2588,3114
$GC,99,-0.77,-136.3,4.4,-9.1,9,116,8.70,0.00,-1.33,0.000,6,0.207,0.000,2346,2588,3193
$GC,374,-0.77,-136.3,92.1,-22.0,38,377,0.00,2.00,0.00,0.000,4,0.000,0.043,2337,3890,3194
$GC,453,-0.77,-136.3,107.8,-17.8,45,456,0.00,1.85,0.00,0.000,6,0.000,0.022,2337,2622,3194
$GC,716,-0.77,-136.3,163.7,-21.8,70,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2614,3195
$GC,980,-0.77,-136.3,215.3,-18.3,90,983,0.00,1.95,0.00,0.000,4,0.000,0.044,2329,3890,3195
$GC,1082,-0.77,-136.3,231.9,-15.2,92,1085,0.00,1.80,0.00,0.000,6,0.000,0.021,2329,2615,3195
$GC,1353,-0.77,-136.3,273.9,-15.4,99,1355,0.00,1.95,0.00,0.000,4,0.000,0.024,2329,1234,3195
$GC,1429,-0.77,-136.3,284.5,-12.6,100,1433,0.12,2.10,0.00,0.000,6,0.134,0.039,2354,2633,3194
$GC,1680,-0.77,-136.3,311.6,-10.8,106,1683,0.00,1.92,0.00,0.000,4,0.000,0.049,2354,3902,3193
$GC,1762,-0.77,-136.3,319.8,-9.3,107,1767,0.00,1.80,0.00,0.000,6,0.000,0.023,2354,2633,3193
$GC,2011,-0.77,-136.3,344.7,-10.1,114,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2627,3191
$GC,2252,-0.77,-136.3,370.0,-10.6,120,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2627,3188
$GC,2497,-0.77,-136.3,395.7,-10.5,126,2500,0.00,2.00,-0.08,0.000,4,0.000,0.041,2354,1233,3209
$GC,2519,-0.77,-136.3,398.4,-11.1,126,2522,0.00,2.12,0.00,0.000,6,0.000,0.043,2354,2633,3210
$GC,2784,-0.77,-136.3,424.9,-10.0,133,2787,0.00,1.92,0.00,0.000,4,0.000,0.050,2353,3896,3207
$GC,2855,-0.77,-136.3,431.8,-9.4,134,2858,0.00,1.83,0.00,0.000,6,0.000,0.025,2354,2636,3207
$GC,3117,-0.77,-136.3,459.2,-10.8,141,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2630,3205
$GC,3356,-0.77,-136.3,484.6,-10.4,147,3360,0.00,1.98,0.00,0.000,4,0.000,0.051,2346,3909,3203
$GC,3384,-0.77,-136.3,487.5,-10.2,147,3387,0.00,1.85,0.00,0.000,6,0.000,0.026,2346,2634,3202
$GC,3644,-0.77,-136.3,514.4,-10.3,154,3647,0.00,2.03,0.00,0.000,4,0.000,0.028,2346,1221,3200
$GC,3672,-0.77,-136.3,517.2,-10.6,154,3675,0.00,2.15,0.00,0.000,6,0.000,0.044,2346,2632,3200
$GC,3928,-0.77,-136.3,540.1,-8.9,161,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2632,3199
$GC,4168,-0.77,-136.3,560.2,-8.2,167,4171,0.00,1.95,0.00,0.000,4,0.000,0.053,2340,3905,3198
$GC,4218,-0.77,-136.3,564.3,-8.2,168,4221,0.00,1.88,0.00,0.000,6,0.000,0.028,2340,2621,3196
$GC,4499,-0.77,-136.3,587.6,-8.4,175,4502,0.00,2.00,0.00,0.000,4,0.000,0.053,2333,3895,3194
$GC,4554,-0.77,-136.3,592.3,-8.4,176,4557,0.00,1.85,0.00,0.000,6,0.000,0.028,2333,2633,3194
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4673,-0.27,0.0,602.3,9.0,179,4792,0.55,0.00,116.95,1.073,6,0.111,0.000,2516,2396,2641
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4793,begin climb
$GC,4798,0.77,136.3,605.7,0.0,182,4933,0.88,2.35,124.18,1.032,4,0.035,0.045,2863,3818,2084
$GC,5185,0.77,136.3,535.3,26.9,191,5189,0.00,2.12,0.00,0.000,6,0.000,0.028,2872,2406,2076
$GC,5472,0.77,136.3,461.9,23.9,198,5475,0.00,2.20,0.00,0.000,4,0.000,0.044,2872,3822,2073
$GC,5516,0.77,136.3,452.0,22.8,199,5520,0.15,2.12,0.00,0.000,6,0.229,0.028,2851,2389,2073
$GC,5799,0.77,136.3,395.2,18.8,206,5802,0.00,2.22,0.00,0.000,4,0.000,0.047,2850,3814,2072
$GC,5891,0.77,136.3,375.0,22.1,208,5895,0.00,2.10,0.00,0.000,6,0.000,0.029,2859,2407,2071
$GC,6167,0.77,136.3,319.0,20.7,215,6170,0.00,2.17,0.00,0.000,4,0.000,0.045,2859,3819,2070
$GC,6286,0.77,136.3,294.2,20.7,217,6289,0.00,2.12,0.00,0.000,6,0.000,0.028,2870,2388,2069
$GC,6540,0.77,136.3,250.1,16.4,224,6543,0.00,2.05,0.00,0.000,4,0.000,0.030,2880,973,2069
$GC,6685,0.77,136.3,230.0,12.7,227,6689,0.00,2.17,0.00,0.000,6,0.000,0.040,2875,2408,2067
$GC,6950,0.77,136.3,201.1,10.4,234,6953,0.00,2.15,0.00,0.000,4,0.000,0.046,2875,3815,2067
$GC,7199,0.77,136.3,165.6,16.0,254,7203,0.15,2.10,0.00,0.000,6,0.229,0.028,2852,2374,2066
$GC,7460,0.77,136.3,134.8,10.4,278,7463,0.00,2.20,0.00,0.000,4,0.000,0.042,2850,3816,2067
$GC,7485,0.77,136.3,131.8,10.2,280,7488,0.00,2.05,0.00,0.000,6,0.000,0.026,2859,2401,2067
$GC,7750,0.81,163.7,108.8,8.6,305,7774,0.00,0.00,21.33,0.708,6,0.000,0.000,2859,2394,1971
$GC,8023,0.81,163.7,74.9,10.5,331,8026,0.00,2.17,0.00,0.000,4,0.000,0.041,2859,3813,1968
$GC,8092,0.81,163.7,65.9,12.8,337,8095,0.00,2.05,0.00,0.000,6,0.000,0.024,2869,2403,1968
$GC,8355,0.83,182.1,38.8,9.1,362,8383,0.00,2.22,16.20,0.628,4,0.000,0.041,2870,3815,1896
$GC,8440,0.83,182.1,28.1,15.6,370,8449,0.00,2.10,0.00,0.000,6,0.000,0.024,2880,2401,1895
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$FINISH,-0.2,1.013266
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8642,174.05,0.582,0,0,398,549.71
$SM_GC,0.64,0.00,0.00,174.05,0.000,0.000,0.582,32,2643,398,-8.01,0.31,549.71
$IRIDIUM_FIX,2241.69,-15802.37,061101,161628
$TT8_MAMPS,0.046787
$HUMID,2028
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.30
$XPDR_PINGS,97
$24V_AH,24.3,9.913
$10V_AH,10.7,8.161
$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,17.725,78.300,278.650,174.050,0.000,139.117,190.629,790.565,24.250,0.000,0.000,20.161,0.000,6272.867,496.523,2054.339,1515.681,33.346,1125.534,0.000,1830.099,0.000,0.544,0.000
$DEVICE_MAMPS,228.566,55.224,1073.033,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.116,942.228,971.269,258.154,754.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32077,404
$CAP_FILE_SIZE,91672,0
$CFSIZE,260165632,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,1
$GPS,120812,185324,2249.377,-15804.440,37,1.7,38,10.1