version: 66.04
glider: 512
mission: 3
dive: 104
start: 8 15 112 17 49 38
data:
$ID,512
$MISSION,3
$DIVE,104
$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,450
$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,135
$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,539.89648
$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,-52433.066
$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,2660
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,172939,2254.344,-15808.045,12,2.1,32,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-76.4
$GPS2,174900,2254.482,-15808.226,12,1.9,29,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.242,0.050
$KALMAN_X,-222378.6,294.6,257.5,212154.8,-4295.2
$KALMAN_Y,42206.4,-716.7,26.3,-31653.4,1128.7
$MHEAD_RNG_PITCHd_Wd,68.2,22489,-18.5,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,15,-0.78,-131.4,0.0,0.0,0,116,0.00,0.00,-98.68,0.000,2,0.000,0.000,21,2668,2980
$GC,121,-0.78,-131.4,3.0,-4.3,12,138,8.88,1.85,-2.90,0.000,4,0.212,0.048,2372,3915,3139
$GC,164,-0.78,-131.4,24.3,-50.3,18,172,0.00,1.85,0.00,0.000,6,0.000,0.023,2372,2661,3139
$GC,430,-0.78,-131.4,89.0,-20.5,44,433,0.00,2.03,0.00,0.000,4,0.000,0.024,2372,1247,3139
$GC,475,-0.78,-131.4,97.4,-17.6,48,479,0.00,2.15,0.00,0.000,6,0.000,0.041,2372,2663,3139
$GC,739,-0.78,-131.4,145.4,-19.4,73,742,0.00,1.88,0.00,0.000,4,0.000,0.044,2362,3907,3139
$GC,859,-0.78,-131.4,166.4,-16.0,84,862,0.00,1.77,0.00,0.000,6,0.000,0.021,2362,2658,3139
$GC,1128,-0.78,-131.4,212.7,-15.9,104,1131,0.00,1.92,0.00,0.000,4,0.000,0.044,2359,3908,3139
$GC,1172,-0.78,-131.4,219.3,-14.4,105,1175,0.00,1.77,0.00,0.000,6,0.000,0.021,2359,2658,3139
$GC,1458,-0.78,-131.4,256.9,-12.9,112,1459,0.12,0.00,0.00,0.000,6,0.145,0.000,2392,2649,3139
$GC,1700,-0.78,-131.4,280.4,-9.6,118,1704,0.00,1.98,0.00,0.000,4,0.000,0.024,2396,1254,3138
$GC,1734,-0.78,-131.4,283.6,-10.1,118,1737,0.00,2.12,0.00,0.000,6,0.000,0.039,2396,2671,3139
$GC,1988,-0.78,-131.4,306.5,-9.0,125,1991,0.00,1.85,0.00,0.000,4,0.000,0.048,2396,3896,3137
$GC,2034,-0.78,-131.4,310.0,-7.3,126,2037,0.00,1.77,0.00,0.000,6,0.000,0.022,2397,2638,3137
$GC,2321,-0.78,-131.4,329.4,-6.5,133,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2632,3135
$GC,2563,-0.78,-131.4,344.1,-6.0,139,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2632,3134
$GC,2805,-0.78,-131.4,359.8,-6.7,145,2808,0.00,1.95,0.00,0.000,4,0.000,0.048,2398,3903,3132
$GC,2833,-0.78,-131.4,361.7,-6.3,145,2836,0.00,1.77,0.00,0.000,6,0.000,0.025,2398,2657,3131
$GC,3093,-0.78,-131.4,381.4,-7.9,152,3096,0.00,2.00,0.00,0.000,4,0.000,0.026,2397,1252,3130
$GC,3137,-0.78,-131.4,385.1,-8.1,153,3140,0.00,2.12,0.00,0.000,6,0.000,0.041,2398,2661,3129
$GC,3423,-0.78,-131.4,407.4,-7.4,160,3427,0.00,1.90,-0.08,0.000,4,0.000,0.066,2398,3909,3151
$GC,3470,-0.78,-131.4,410.1,-5.9,161,3473,0.00,1.80,0.00,0.000,6,0.000,0.025,2398,2643,3150
$GC,3756,-0.78,-131.4,427.5,-6.1,168,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2637,3149
$GC,3998,-0.78,-131.4,443.4,-6.6,174,4001,0.00,1.98,0.00,0.000,4,0.000,0.028,2403,1271,3147
$GC,4112,-0.78,-131.4,452.2,-7.9,176,4115,0.00,2.12,0.00,0.000,6,0.000,0.041,2403,2677,3146
$GC,4372,-0.78,-131.4,471.9,-7.9,183,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2677,3144
$GC,4614,-0.78,-131.4,490.7,-7.8,189,4617,0.00,1.85,0.00,0.000,4,0.000,0.051,2403,3892,3142
$GC,4626,-0.78,-131.4,491.7,-7.9,189,4629,0.00,1.80,0.00,0.000,6,0.000,0.027,2409,2659,3142
$GC,4904,-0.78,-131.4,513.2,-7.7,196,4907,0.00,1.92,0.00,0.000,4,0.000,0.051,2409,3893,3141
$GC,4958,-0.78,-131.4,517.6,-7.7,197,4961,0.00,1.77,0.00,0.000,6,0.000,0.027,2409,2653,3140
$GC,5234,-0.78,-131.4,539.1,-8.2,204,5237,0.00,2.00,0.00,0.000,4,0.000,0.028,2409,1255,3138
$GC,5273,-0.78,-131.4,542.6,-9.0,204,5278,0.00,2.15,0.00,0.000,6,0.000,0.044,2409,2668,3137
$GC,5524,-0.78,-131.4,563.5,-8.7,211,5527,0.00,2.03,0.00,0.000,4,0.000,0.028,2410,1261,3137
$GC,5557,-0.78,-131.4,566.9,-9.0,211,5560,0.00,2.12,0.00,0.000,6,0.000,0.043,2410,2661,3136
$GC,5812,-0.78,-131.4,589.1,-8.8,218,5815,0.00,1.90,0.00,0.000,4,0.000,0.054,2409,3903,3135
$GC,5861,-0.78,-131.4,593.4,-8.6,219,5864,0.00,1.80,0.00,0.000,6,0.000,0.028,2409,2660,3134
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5976,begin apogee
$GC,5986,-0.27,0.0,602.8,8.0,222,6102,0.40,0.00,114.12,1.045,6,0.044,0.000,2581,2342,2600
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6103,begin climb
$GC,6108,0.78,131.4,609.5,0.0,225,6240,0.80,2.35,119.43,0.994,4,0.035,0.039,2891,3754,2063
$GC,6486,0.78,131.4,534.0,29.8,233,6492,0.00,2.12,0.00,0.000,6,0.000,0.028,2900,2345,2056
$GC,6735,0.78,131.4,466.4,26.6,240,6738,0.00,2.10,0.00,0.000,4,0.000,0.030,2911,919,2053
$GC,6832,0.78,131.4,442.8,22.9,242,6836,0.00,2.17,0.00,0.000,6,0.000,0.038,2910,2344,2051
$GC,7103,0.78,131.4,381.2,22.7,249,7106,0.00,2.15,0.00,0.000,4,0.000,0.041,2905,3752,2050
$GC,7141,0.78,131.4,373.1,21.3,249,7147,0.00,2.10,0.00,0.000,6,0.000,0.028,2914,2338,2050
$GC,7392,0.78,131.4,322.9,19.7,256,7395,0.00,2.08,0.00,0.000,4,0.000,0.031,2925,919,2049
$GC,7538,0.78,131.4,291.3,19.7,259,7541,0.00,2.15,0.00,0.000,6,0.000,0.038,2919,2341,2048
$GC,7804,0.78,131.4,243.9,17.4,266,7807,0.00,2.15,0.00,0.000,4,0.000,0.044,2918,3751,2048
$GC,7822,0.78,131.4,241.4,14.0,266,7825,0.15,2.10,0.00,0.000,6,0.216,0.028,2894,2329,2048
$GC,8086,0.78,131.4,210.3,12.1,273,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2322,2047
$GC,8334,0.78,131.4,178.2,13.5,288,8337,0.00,2.17,0.00,0.000,4,0.000,0.041,2891,3751,2047
$GC,8433,0.78,131.4,162.8,16.5,297,8436,0.00,2.08,0.00,0.000,6,0.000,0.026,2899,2342,2047
$GC,8696,0.78,131.4,124.4,14.7,322,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2336,2047
$GC,8944,0.78,131.4,95.8,11.3,346,8947,0.00,2.15,0.00,0.000,4,0.000,0.041,2901,3758,2047
$GC,8980,0.78,131.4,91.8,11.0,349,8983,0.00,2.08,0.00,0.000,6,0.000,0.025,2910,2316,2047
$GC,9244,0.87,204.5,68.9,6.3,374,9312,0.00,2.08,56.80,0.637,4,0.000,0.026,2921,941,1764
$GC,9416,0.87,204.5,41.4,20.0,388,9419,0.00,2.12,0.00,0.000,6,0.000,0.034,2917,2345,1760
$STATE,9579,end climb,SURFACE_DEPTH_REACHED
$STATE,9579,begin surface coast
$FINISH,0.3,1.023329
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9617,156.77,0.552,0,0,398,539.90
$SM_GC,0.56,0.00,0.00,156.77,0.000,0.000,0.552,33,2666,398,-8.14,0.17,539.90
$IRIDIUM_FIX,2246.36,-15805.83,091101,171727
$TT8_MAMPS,0.046787
$HUMID,2051
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,5
$24V_AH,24.4,13.091
$10V_AH,10.6,11.213
$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,17.825,93.000,290.350,156.775,0.000,142.096,164.802,422.491,1.250,0.000,0.000,29.657,0.000,7180.623,502.258,2088.137,1150.313,33.346,1162.091,0.000,1834.824,0.000,0.545,0.000
$DEVICE_MAMPS,215.527,65.962,1044.654,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,280.645,912.563,952.424,114.527,716.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35101,416
$CAP_FILE_SIZE,89498,0
$CFSIZE,260165632,253652992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,150812,203336,2254.773,-15808.438,32,1.2,32,10.1