version: 66.04
glider: 512
mission: 3
dive: 86
start: 8 13 112 17 20 50
data:
$ID,512
$MISSION,3
$DIVE,86
$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,-52007.457
$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,61
$R_STBD_OVSHOOT,46
$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
$GPS1,171135,2249.938,-15806.329,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-78.5
$GPS2,172007,2249.986,-15806.438,12,2.0,12,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,0.018
$KALMAN_X,-174599.7,-79.8,28.9,168038.2,-4344.1
$KALMAN_Y,28577.0,-623.4,-36.5,-26374.7,992.3
$MHEAD_RNG_PITCHd_Wd,75.8,14360,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.79,-126.5,0.0,0.0,0,90,0.00,0.00,-73.93,0.000,2,0.000,0.000,21,2660,2973
$GC,95,-0.79,-126.5,3.3,-6.1,9,113,9.07,2.10,-3.25,0.000,4,0.210,0.038,2447,1217,3157
$GC,123,-0.79,-126.5,18.1,-40.7,12,131,0.00,2.15,0.00,0.000,6,0.000,0.031,2438,2622,3158
$GC,389,-0.79,-126.5,63.5,-13.4,40,392,0.00,1.95,0.00,0.000,4,0.000,0.046,2428,3905,3160
$GC,446,-0.79,-126.5,69.7,-9.4,45,449,0.00,1.85,0.00,0.000,6,0.000,0.022,2428,2618,3160
$GC,709,-0.79,-126.5,96.2,-10.0,70,712,0.00,1.95,0.00,0.000,4,0.000,0.025,2429,1247,3161
$GC,758,-0.79,-126.5,100.9,-7.8,74,766,0.00,2.12,0.00,0.000,6,0.000,0.039,2428,2631,3161
$GC,1017,-0.79,-126.5,124.3,-9.2,99,1019,0.00,1.95,0.00,0.000,4,0.000,0.048,2425,3916,3161
$GC,1073,-0.79,-126.5,128.8,-7.1,104,1076,0.00,1.80,0.00,0.000,6,0.000,0.021,2426,2638,3162
$GC,1337,-0.79,-126.5,150.8,-8.3,129,1341,0.00,1.98,0.00,0.000,4,0.000,0.024,2425,1243,3162
$GC,1373,-0.79,-126.5,153.7,-7.7,132,1376,0.00,2.12,0.00,0.000,6,0.000,0.039,2425,2660,3162
$GC,1637,-0.79,-126.5,173.6,-7.2,157,1641,0.00,1.90,0.00,0.000,4,0.000,0.047,2423,3895,3163
$GC,1683,-0.79,-126.5,176.5,-5.7,161,1687,0.00,1.80,0.00,0.000,6,0.000,0.021,2423,2635,3163
$GC,1946,-0.79,-126.5,192.0,-6.0,186,1949,0.00,1.95,0.00,0.000,4,0.000,0.024,2423,1247,3163
$GC,1984,-0.79,-126.5,194.5,-5.2,189,1993,0.08,2.12,0.00,0.000,6,0.087,0.039,2450,2641,3163
$GC,2236,-0.79,-126.5,205.9,-4.7,205,2239,0.00,1.90,0.00,0.000,4,0.000,0.046,2451,3907,3163
$GC,2313,-0.79,-126.5,211.1,-7.3,206,2316,0.00,1.77,0.00,0.000,6,0.000,0.021,2460,2639,3163
$GC,2567,-0.79,-126.5,229.4,-7.4,213,2570,0.00,1.98,0.00,0.000,4,0.000,0.024,2461,1240,3163
$GC,2815,-0.79,-126.5,249.0,-8.7,218,2818,0.00,2.10,0.00,0.000,6,0.000,0.038,2461,2645,3163
$GC,3069,-0.79,-126.5,271.7,-9.1,225,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2646,3162
$GC,3313,-0.79,-126.5,291.6,-7.8,231,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2645,3161
$GC,3553,-0.79,-126.5,308.2,-6.6,237,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2646,3160
$GC,3795,-0.79,-126.5,327.5,-8.2,243,3798,0.00,2.00,0.00,0.000,4,0.000,0.025,2461,1238,3159
$GC,3818,-0.79,-126.5,329.4,-8.8,243,3821,0.00,2.10,0.00,0.000,6,0.000,0.040,2461,2642,3159
$GC,4083,-0.79,-126.5,348.2,-7.3,250,4086,0.00,1.90,0.00,0.000,4,0.000,0.049,2461,3900,3158
$GC,4176,-0.79,-126.5,354.1,-5.1,252,4179,0.00,1.77,0.00,0.000,6,0.000,0.023,2464,2643,3157
$GC,4457,-0.79,-126.5,373.9,-7.7,259,4460,0.00,1.98,0.00,0.000,4,0.000,0.025,2464,1245,3156
$GC,4592,-0.79,-126.5,384.7,-7.2,262,4595,0.00,2.12,0.00,0.000,6,0.000,0.039,2464,2650,3155
$GC,4873,-0.79,-126.5,407.1,-8.5,269,4876,0.00,2.03,0.00,0.000,4,0.000,0.025,2464,1231,3154
$GC,5008,-0.79,-126.5,418.0,-7.3,272,5011,0.00,2.12,0.00,0.000,6,0.000,0.040,2464,2640,3153
$GC,5289,-0.79,-126.5,438.9,-7.7,279,5292,0.00,1.90,0.00,0.000,4,0.000,0.051,2464,3895,3151
$GC,5349,-0.79,-126.5,443.4,-6.7,280,5353,0.00,1.83,0.00,0.000,6,0.000,0.026,2464,2638,3151
$GC,5620,-0.79,-126.5,460.8,-6.6,287,5623,0.00,1.98,0.00,0.000,4,0.000,0.027,2464,1245,3149
$GC,5776,-0.79,-126.5,472.9,-7.3,290,5779,0.00,2.12,0.00,0.000,6,0.000,0.041,2464,2645,3148
$GC,6036,-0.79,-126.5,491.8,-7.9,297,6039,0.00,2.03,-0.08,0.000,4,0.000,0.041,2464,1248,3172
$GC,6107,-0.79,-126.5,497.6,-8.1,298,6110,0.00,2.12,0.00,0.000,6,0.000,0.041,2464,2647,3172
$GC,6367,-0.79,-126.5,516.5,-7.4,305,6370,0.00,2.03,0.00,0.000,4,0.000,0.027,2464,1238,3171
$GC,6469,-0.79,-126.5,524.3,-7.7,307,6473,0.00,2.15,0.00,0.000,6,0.000,0.042,2464,2647,3170
$GC,6740,-0.79,-126.5,541.2,-6.2,314,6743,0.00,1.90,0.00,0.000,4,0.000,0.054,2464,3892,3169
$GC,6805,-0.79,-126.5,545.3,-6.1,315,6809,0.00,1.80,0.00,0.000,6,0.000,0.026,2464,2650,3168
$GC,7070,-0.79,-126.5,560.4,-6.2,322,7073,0.00,2.03,0.00,0.000,4,0.000,0.028,2464,1231,3167
$GC,7131,-0.79,-126.5,564.4,-6.2,323,7134,0.00,2.15,0.00,0.000,6,0.000,0.043,2464,2642,3167
$GC,7401,-0.79,-126.5,582.4,-7.6,330,7404,0.00,2.03,0.00,0.000,4,0.000,0.028,2465,1238,3165
$GC,7477,-0.79,-126.5,588.8,-7.5,331,7480,0.00,2.12,0.00,0.000,6,0.000,0.044,2464,2638,3165
$STATE,7648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7648,begin apogee
$GC,7659,-0.27,0.0,601.2,7.2,336,7773,0.40,0.00,112.25,1.079,6,0.049,0.000,2635,2398,2640
$STATE,7773,end apogee,CONTROL_FINISHED_OK
$STATE,7773,begin climb
$GC,7778,0.79,126.5,610.3,0.0,339,7906,0.88,2.17,115.78,1.025,4,0.059,0.028,2962,1007,2123
$GC,8140,0.79,126.5,554.8,25.9,347,8144,0.00,2.15,0.00,0.000,6,0.000,0.036,2958,2408,2114
$GC,8400,0.79,126.5,490.3,24.4,354,8403,0.00,2.08,0.00,0.000,4,0.000,0.028,2967,998,2113
$GC,8417,0.79,126.5,486.0,24.7,354,8420,0.00,2.15,0.00,0.000,6,0.000,0.040,2966,2401,2112
$GC,8689,0.79,126.5,423.2,22.8,361,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2402,2112
$GC,8929,0.79,126.5,371.0,21.4,367,8933,0.00,2.05,0.00,0.000,4,0.000,0.029,2975,1002,2111
$GC,8962,0.79,126.5,364.5,19.1,367,8965,0.00,2.12,0.00,0.000,6,0.000,0.038,2971,2407,2110
$GC,9217,0.79,126.5,312.7,20.2,374,9220,0.00,2.15,0.00,0.000,4,0.000,0.045,2971,3815,2110
$GC,9362,0.79,126.5,284.7,16.4,377,9365,0.00,2.05,0.00,0.000,6,0.000,0.028,2979,2408,2108
$GC,9632,0.79,126.5,243.1,14.3,384,9635,0.00,2.05,0.00,0.000,4,0.000,0.029,2990,990,2108
$GC,9880,0.79,126.5,214.5,11.9,389,9884,0.12,2.12,0.00,0.000,6,0.230,0.036,2959,2413,2108
$GC,10134,0.79,126.5,186.7,10.0,404,10137,0.00,2.08,0.00,0.000,4,0.000,0.029,2968,986,2107
$GC,10386,0.81,148.3,164.3,8.8,427,10411,0.00,2.10,16.52,0.741,6,0.000,0.036,2968,2398,2035
$GC,10662,0.81,148.3,127.2,14.8,453,10665,0.00,2.05,0.00,0.000,4,0.000,0.027,2978,985,2033
$GC,10761,0.81,148.3,113.0,14.1,462,10764,0.00,2.12,0.00,0.000,6,0.000,0.035,2978,2402,2033
$GC,11025,0.86,187.5,84.2,7.9,487,11063,0.00,2.17,33.00,0.669,4,0.000,0.041,2978,3814,1877
$GC,11089,0.86,187.5,78.3,12.1,492,11092,0.00,2.10,0.00,0.000,6,0.000,0.025,2988,2390,1875
$GC,11352,0.86,187.5,30.5,18.6,517,11355,0.00,2.20,0.00,0.000,4,0.000,0.041,2986,3814,1873
$STATE,11479,end climb,SURFACE_DEPTH_REACHED
$STATE,11479,begin surface coast
$FINISH,0.1,1.023575
$STATE,11494,end surface coast,CONTROL_FINISHED_OK
$STATE,11494,begin surface
$SM_CCo,11519,91.53,0.588,0,0,1089,380.21
$SM_GC,0.80,0.00,0.00,91.53,0.000,0.000,0.588,35,2623,1089,-8.33,-0.48,380.21
$IRIDIUM_FIX,2241.69,-15802.37,071101,141426
$TT8_MAMPS,0.047554
$HUMID,2103
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.60
$XPDR_PINGS,40
$24V_AH,24.3,10.949
$10V_AH,10.6,9.231
$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,19.000,117.675,277.550,91.525,0.000,24.210,32.455,297.249,10.000,0.000,0.000,17.176,0.000,8019.571,426.691,2839.695,825.529,33.338,1271.954,0.000,2550.170,0.000,0.544,0.000
$DEVICE_MAMPS,230.100,53.690,1079.169,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,367.142,1283.200,1334.242,155.077,925.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44731,542
$CAP_FILE_SIZE,107743,0
$CFSIZE,260165632,254484480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,130812,203535,2250.063,-15807.139,42,0.9,42,10.1