version: 66.04
glider: 512
mission: 3
dive: 106
start: 8 16 112 0 16 57
data:
$ID,512
$MISSION,3
$DIVE,106
$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,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,-52459.992
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2620
$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,2680
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2590
$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
$GPS1,234859,2255.276,-15808.861,38,1.0,45,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-77.3
$GPS2,001619,2255.314,-15809.212,12,1.4,12,10.1
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,-0.048
$KALMAN_X,-228691.7,-581.9,-61.3,217991.5,-3410.6
$KALMAN_Y,42399.6,-9.0,-193.6,-30791.6,1186.0
$MHEAD_RNG_PITCHd_Wd,91.2,24748,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.78,-131.4,0.0,0.0,0,121,0.00,0.00,-98.90,0.000,2,0.000,0.000,12,2685,2974
$GC,126,-0.78,-131.4,3.0,-4.7,12,143,8.85,0.00,-2.80,0.000,6,0.210,0.000,2364,2685,3127
$GC,399,-0.78,-131.4,82.3,-21.1,42,402,0.00,1.85,0.00,0.000,4,0.000,0.041,2357,3886,3128
$GC,479,-0.78,-131.4,96.6,-13.5,49,487,0.00,1.77,0.00,0.000,6,0.000,0.021,2356,2663,3128
$GC,736,-0.78,-131.4,141.7,-17.1,74,739,0.00,1.98,0.00,0.000,4,0.000,0.023,2356,1272,3128
$GC,773,-0.78,-131.4,147.8,-17.0,77,776,0.00,2.10,0.00,0.000,6,0.000,0.038,2347,2670,3128
$GC,1036,-0.78,-131.4,194.4,-17.8,102,1039,0.00,1.88,0.00,0.000,4,0.000,0.044,2337,3903,3128
$GC,1063,-0.78,-131.4,200.2,-19.3,104,1071,0.08,1.75,0.00,0.000,6,0.143,0.021,2362,2674,3128
$GC,1314,-0.78,-131.4,240.2,-15.8,111,1317,0.00,1.95,0.00,0.000,4,0.000,0.023,2362,1287,3128
$GC,1364,-0.78,-131.4,247.6,-13.7,112,1367,0.00,2.10,0.00,0.000,6,0.000,0.039,2359,2683,3128
$GC,1645,-0.78,-131.4,284.5,-12.4,119,1648,0.00,1.83,0.00,0.000,4,0.000,0.044,2350,3903,3127
$GC,1748,-0.78,-131.4,295.4,-10.3,121,1751,0.00,1.73,0.00,0.000,6,0.000,0.021,2350,2675,3127
$GC,2018,-0.78,-131.4,323.4,-10.1,128,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2668,3125
$GC,2260,-0.78,-131.4,349.0,-10.9,134,2263,0.00,1.90,0.00,0.000,4,0.000,0.046,2346,3911,3123
$GC,2293,-0.78,-131.4,352.9,-11.0,134,2296,0.00,1.75,0.00,0.000,6,0.000,0.022,2346,2671,3123
$GC,2549,-0.78,-131.4,383.0,-11.9,141,2553,0.00,1.98,0.00,0.000,4,0.000,0.025,2346,1276,3121
$GC,2572,-0.78,-131.4,386.0,-12.1,141,2575,0.00,2.12,0.00,0.000,6,0.000,0.041,2346,2685,3121
$GC,2837,-0.78,-131.4,415.0,-10.8,148,2840,0.00,1.83,0.00,0.000,4,0.000,0.047,2337,3899,3118
$GC,2865,-0.78,-131.4,418.1,-10.9,148,2868,0.12,1.73,0.00,0.000,6,0.127,0.023,2372,2681,3118
$GC,3125,-0.78,-131.4,437.8,-7.3,155,3126,0.00,0.00,-0.08,0.000,6,0.000,0.000,2372,2674,3140
$GC,3369,-0.78,-131.4,455.5,-7.4,161,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2674,3138
$GC,3609,-0.78,-131.4,475.4,-8.4,167,3612,0.00,2.00,0.00,0.000,4,0.000,0.028,2373,1291,3136
$GC,3632,-0.78,-131.4,477.6,-8.7,167,3635,0.00,2.10,0.00,0.000,6,0.000,0.044,2372,2682,3136
$GC,3897,-0.78,-131.4,501.8,-9.4,174,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2682,3134
$GC,4139,-0.78,-131.4,523.6,-9.0,180,4142,0.00,1.85,0.00,0.000,4,0.000,0.051,2363,3903,3132
$GC,4167,-0.78,-131.4,526.1,-8.5,180,4170,0.00,1.75,0.00,0.000,6,0.000,0.026,2363,2678,3131
$GC,4426,-0.78,-131.4,548.5,-8.5,187,4430,0.00,2.03,0.00,0.000,4,0.000,0.028,2363,1272,3130
$GC,4460,-0.78,-131.4,551.4,-8.7,187,4463,0.00,2.15,0.00,0.000,6,0.000,0.046,2359,2680,3129
$GC,4714,-0.78,-131.4,574.4,-9.3,194,4717,0.00,1.88,0.00,0.000,4,0.000,0.054,2359,3905,3127
$GC,4764,-0.78,-131.4,579.1,-9.3,195,4767,0.00,1.77,0.00,0.000,6,0.000,0.028,2358,2683,3126
$STATE,5002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5002,begin apogee
$GC,5012,-0.27,0.0,602.6,9.9,201,5129,0.52,0.00,114.05,1.041,6,0.131,0.000,2536,2308,2591
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5134,0.78,131.4,609.4,0.0,204,5266,0.90,2.22,118.95,0.989,4,0.041,0.028,2889,918,2052
$GC,5516,0.78,131.4,548.8,23.4,212,5522,0.00,2.17,0.00,0.000,6,0.000,0.038,2888,2328,2044
$GC,5765,0.78,131.4,481.8,26.8,219,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2328,2042
$GC,6007,0.78,131.4,422.1,24.1,225,6010,0.00,2.15,0.00,0.000,4,0.000,0.044,2888,3729,2041
$GC,6061,0.78,131.4,408.7,25.6,226,6064,0.00,2.08,0.00,0.000,6,0.000,0.028,2897,2331,2039
$GC,6337,0.78,131.4,348.4,21.6,233,6340,0.00,2.08,0.00,0.000,4,0.000,0.030,2908,903,2039
$GC,6424,0.78,131.4,331.0,21.1,235,6428,0.12,2.15,0.00,0.000,6,0.224,0.039,2877,2321,2037
$GC,6705,0.78,131.4,282.3,17.3,242,6708,0.00,2.15,0.00,0.000,4,0.000,0.043,2876,3736,2037
$GC,6861,0.78,131.4,254.7,18.3,245,6865,0.00,2.10,0.00,0.000,6,0.000,0.027,2885,2309,2036
$GC,7121,0.78,131.4,211.3,16.8,252,7124,0.00,2.03,0.00,0.000,4,0.000,0.028,2896,901,2036
$GC,7208,0.78,131.4,198.0,15.8,254,7211,0.00,2.15,0.00,0.000,6,0.000,0.037,2891,2334,2036
$GC,7471,0.78,131.4,162.2,12.4,279,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2335,2036
$GC,7728,0.78,131.4,131.3,12.9,304,7731,0.00,2.08,0.00,0.000,4,0.000,0.026,2900,894,2036
$GC,7883,0.78,131.4,111.8,12.0,318,7892,0.00,2.15,0.00,0.000,6,0.000,0.036,2900,2315,2035
$GC,8142,0.78,131.4,80.0,11.3,343,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2315,2035
$GC,8400,0.89,222.6,67.8,5.3,368,8483,0.00,2.15,70.88,0.625,4,0.000,0.025,2909,904,1680
$GC,8508,0.89,222.6,52.2,23.3,376,8512,0.00,2.17,0.00,0.000,6,0.000,0.036,2905,2317,1678
$STATE,8721,end climb,SURFACE_DEPTH_REACHED
$STATE,8721,begin surface coast
$FINISH,-0.0,1.023331
$STATE,8732,end surface coast,CONTROL_FINISHED_OK
$STATE,8732,begin surface
$SM_CCo,8755,66.18,0.552,0,0,1038,380.21
$SM_GC,0.92,0.00,0.00,66.18,0.000,0.000,0.552,45,2698,1038,-8.05,0.48,380.21
$IRIDIUM_FIX,2246.36,-15811.05,101101,000057
$TT8_MAMPS,0.048321
$HUMID,2123
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.10
$XPDR_PINGS,6
$24V_AH,24.4,13.437
$10V_AH,10.6,11.468
$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,17.975,76.650,303.875,66.175,0.000,86.808,110.254,1174.007,1.500,0.000,0.000,12.612,0.000,6284.977,418.044,1985.731,1757.315,33.355,1053.964,0.000,1778.120,0.000,0.545,0.000
$DEVICE_MAMPS,223.964,54.457,1040.819,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,275.475,955.446,986.323,143.096,737.683,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35177,409
$CAP_FILE_SIZE,89820,0
$CFSIZE,260165632,253624320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,160812,024506,2255.716,-15809.098,35,1.1,36,10.1