version: 66.04
glider: 512
mission: 3
dive: 85
start: 8 13 112 14 2 9
data:
$ID,512
$MISSION,3
$DIVE,85
$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,130
$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,-51989.652
$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,2640
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,59
$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
$GPS1,135354,2249.716,-15805.590,57,1.6,57,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-78.2
$GPS2,140131,2249.718,-15805.697,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,0.022
$KALMAN_X,-171172.4,642.1,9.1,165174.2,-5054.5
$KALMAN_Y,28306.3,-369.8,-178.8,-26711.0,1664.9
$MHEAD_RNG_PITCHd_Wd,74.7,13077,-18.9,-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,-0.79,-126.5,0.0,0.0,0,91,0.00,0.00,-74.00,0.000,2,0.000,0.000,24,2679,2963
$GC,96,-0.79,-126.5,3.1,-5.4,9,113,9.07,1.80,-3.50,0.000,4,0.211,0.049,2430,3890,3157
$GC,139,-0.79,-126.5,24.5,-50.6,15,147,0.00,1.88,0.00,0.000,6,0.000,0.024,2432,2634,3157
$GC,401,-0.79,-126.5,62.2,-11.4,41,404,0.00,2.03,0.00,0.000,4,0.000,0.025,2432,1223,3159
$GC,449,-0.79,-126.5,67.0,-7.6,45,456,0.00,2.12,0.00,0.000,6,0.000,0.039,2428,2606,3159
$GC,706,-0.79,-126.5,91.7,-10.0,70,709,0.00,2.00,0.00,0.000,4,0.000,0.023,2429,1214,3160
$GC,731,-0.79,-126.5,94.2,-10.2,72,734,0.00,2.15,0.00,0.000,6,0.000,0.039,2428,2642,3160
$GC,988,-0.79,-126.5,118.5,-9.8,96,991,0.00,1.90,0.00,0.000,4,0.000,0.047,2422,3900,3160
$GC,1016,-0.79,-126.5,121.5,-10.1,98,1024,0.00,1.85,0.00,0.000,6,0.000,0.021,2422,2609,3160
$GC,1275,-0.79,-126.5,146.3,-9.6,123,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2608,3161
$GC,1534,-0.79,-126.5,166.2,-6.8,148,1537,0.00,1.95,0.00,0.000,4,0.000,0.045,2415,3892,3161
$GC,1559,-0.79,-126.5,168.0,-6.8,150,1562,0.12,1.77,0.00,0.000,6,0.101,0.021,2455,2631,3162
$GC,1827,-0.79,-126.5,178.6,-5.0,175,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2624,3162
$GC,2102,-0.79,-126.5,205.7,-11.5,199,2105,0.00,1.95,0.00,0.000,4,0.000,0.023,2461,1239,3162
$GC,2135,-0.79,-126.5,209.5,-11.2,199,2138,0.00,2.10,0.00,0.000,6,0.000,0.038,2461,2647,3162
$GC,2391,-0.79,-126.5,232.0,-8.4,206,2394,0.00,1.88,0.00,0.000,4,0.000,0.047,2461,3900,3162
$GC,2548,-0.79,-126.5,244.2,-8.6,209,2551,0.00,1.77,0.00,0.000,6,0.000,0.022,2461,2622,3162
$GC,2809,-0.79,-126.5,269.4,-10.2,216,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2616,3162
$GC,3050,-0.79,-126.5,293.6,-9.8,222,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2615,3161
$GC,3292,-0.79,-126.5,311.8,-7.2,228,3295,0.00,1.95,0.00,0.000,4,0.000,0.048,2461,3892,3160
$GC,3423,-0.79,-126.5,320.0,-6.5,231,3427,0.00,1.77,0.00,0.000,6,0.000,0.022,2464,2651,3159
$GC,3710,-0.79,-126.5,339.6,-7.0,238,3713,0.00,1.98,0.00,0.000,4,0.000,0.025,2464,1248,3158
$GC,3958,-0.79,-126.5,357.6,-7.5,243,3961,0.00,2.10,0.00,0.000,6,0.000,0.039,2464,2650,3157
$GC,4212,-0.79,-126.5,377.2,-8.1,250,4215,0.00,2.00,0.00,0.000,4,0.000,0.024,2464,1246,3155
$GC,4326,-0.79,-126.5,386.7,-8.1,252,4329,0.00,2.10,0.00,0.000,6,0.000,0.039,2464,2642,3155
$GC,4585,-0.79,-126.5,408.9,-9.0,259,4588,0.00,1.88,0.00,0.000,4,0.000,0.048,2464,3889,3153
$GC,4646,-0.79,-126.5,414.2,-8.2,260,4649,0.00,1.77,0.00,0.000,6,0.000,0.023,2474,2647,3153
$GC,4916,-0.79,-126.5,435.4,-7.9,267,4919,0.00,1.98,0.00,0.000,4,0.000,0.025,2474,1245,3151
$GC,5013,-0.79,-126.5,443.3,-7.1,269,5016,0.00,2.10,0.00,0.000,6,0.000,0.041,2474,2640,3151
$GC,5291,-0.79,-126.5,460.9,-6.4,276,5294,0.00,2.00,0.00,0.000,4,0.000,0.027,2475,1248,3149
$GC,5357,-0.79,-126.5,465.3,-7.3,277,5360,0.00,2.10,0.00,0.000,6,0.000,0.040,2475,2647,3149
$GC,5622,-0.79,-126.5,480.4,-5.9,284,5625,0.00,2.05,-0.08,0.000,4,0.000,0.041,2474,1245,3172
$GC,5693,-0.79,-126.5,484.7,-7.4,285,5696,0.00,2.12,0.00,0.000,6,0.000,0.042,2474,2644,3172
$GC,5953,-0.79,-126.5,501.1,-6.5,292,5956,0.00,2.00,0.00,0.000,4,0.000,0.026,2475,1243,3171
$GC,6056,-0.79,-126.5,508.2,-6.6,294,6059,0.00,2.10,0.00,0.000,6,0.000,0.042,2475,2638,3171
$GC,6328,-0.79,-126.5,525.0,-6.2,301,6331,0.00,2.00,0.00,0.000,4,0.000,0.026,2475,1240,3169
$GC,6415,-0.79,-126.5,530.8,-5.5,303,6419,0.00,2.15,0.00,0.000,6,0.000,0.042,2475,2651,3168
$GC,6702,-0.79,-126.5,547.0,-5.5,310,6705,0.00,2.03,0.00,0.000,4,0.000,0.027,2475,1246,3166
$GC,6725,-0.79,-126.5,548.4,-5.7,310,6728,0.00,2.12,0.00,0.000,6,0.000,0.044,2474,2648,3167
$GC,6990,-0.79,-126.5,563.9,-6.0,317,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2649,3166
$GC,7232,-0.79,-126.5,579.2,-6.3,323,7235,0.00,2.03,0.00,0.000,4,0.000,0.028,2478,1248,3165
$GC,7319,-0.79,-126.5,584.9,-6.4,325,7322,0.00,2.15,0.00,0.000,6,0.000,0.046,2478,2645,3165
$STATE,7520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7520,begin apogee
$GC,7530,-0.27,0.0,600.7,8.0,330,7644,0.38,0.00,112.28,1.088,6,0.044,0.000,2646,2407,2640
$STATE,7644,end apogee,CONTROL_FINISHED_OK
$STATE,7644,begin climb
$GC,7649,0.79,126.5,611.7,0.0,333,7777,0.82,2.20,115.85,1.041,4,0.061,0.028,2955,1005,2123
$GC,7856,0.79,126.5,597.9,24.5,337,7862,0.00,2.20,0.00,0.000,6,0.000,0.038,2955,2410,2117
$GC,8105,0.79,126.5,531.9,26.5,344,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2411,2114
$GC,8347,0.79,126.5,469.7,25.7,350,8350,0.00,2.17,0.00,0.000,4,0.000,0.044,2955,3821,2112
$GC,8394,0.79,126.5,458.2,27.2,351,8397,0.00,2.10,0.00,0.000,6,0.000,0.027,2965,2409,2111
$GC,8680,0.79,126.5,388.5,23.8,358,8683,0.00,2.08,0.00,0.000,4,0.000,0.029,2977,984,2110
$GC,8751,0.79,126.5,373.9,21.1,359,8754,0.00,2.15,0.00,0.000,6,0.000,0.038,2971,2406,2110
$GC,9012,0.79,126.5,319.9,20.6,366,9015,0.00,2.15,0.00,0.000,4,0.000,0.044,2971,3819,2110
$GC,9030,0.79,126.5,315.9,20.1,366,9033,0.00,2.10,0.00,0.000,6,0.000,0.028,2979,2390,2109
$GC,9300,0.79,126.5,268.1,16.1,373,9303,0.00,2.20,0.00,0.000,4,0.000,0.044,2979,3821,2109
$GC,9349,0.79,126.5,259.8,16.5,374,9353,0.15,2.10,0.00,0.000,6,0.249,0.027,2958,2392,2108
$GC,9627,0.79,126.5,226.1,11.2,381,9630,0.00,2.05,0.00,0.000,4,0.000,0.031,2967,981,2108
$GC,9789,0.79,132.2,209.6,9.7,384,9792,0.00,2.15,0.00,0.000,6,0.000,0.038,2967,2412,2108
$GC,10050,0.84,171.0,187.5,7.9,400,10093,0.00,0.00,35.30,0.796,6,0.000,0.000,2967,2412,1942
$GC,10346,0.84,171.0,135.4,19.1,428,10350,0.00,2.15,0.00,0.000,4,0.000,0.042,2967,3821,1937
$GC,10446,0.84,171.0,114.6,20.7,437,10449,0.00,2.10,0.00,0.000,6,0.000,0.027,2975,2383,1937
$GC,10710,0.84,171.0,66.1,17.0,462,10713,0.00,2.00,0.00,0.000,4,0.000,0.027,2986,985,1937
$GC,10920,0.84,171.0,38.1,13.1,481,10923,0.00,2.12,0.00,0.000,6,0.000,0.035,2986,2414,1936
$STATE,11157,end climb,SURFACE_DEPTH_REACHED
$STATE,11157,begin surface coast
$FINISH,0.2,1.023453
$STATE,11172,end surface coast,CONTROL_FINISHED_OK
$STATE,11173,begin surface
$SM_CCo,11196,99.43,0.601,0,0,1089,380.21
$SM_GC,0.72,0.00,0.00,99.43,0.000,0.000,0.601,39,2660,1089,-8.31,0.54,380.21
$IRIDIUM_FIX,2239.35,-15802.37,071101,101016
$TT8_MAMPS,0.048321
$HUMID,2110
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.50
$XPDR_PINGS,8
$24V_AH,24.3,10.834
$10V_AH,10.6,9.089
$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,18.000,106.275,263.425,99.425,0.000,23.417,42.145,230.223,2.000,0.000,0.000,12.494,0.000,7898.917,424.505,2656.128,755.420,33.347,1217.417,0.000,2383.712,0.000,0.544,0.000
$DEVICE_MAMPS,248.508,49.088,1087.606,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,354.629,1224.284,1271.851,167.158,932.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41587,524
$CAP_FILE_SIZE,99356,0
$CFSIZE,260165632,254550016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,130812,171135,2249.938,-15806.329,39,1.0,39,10.1