version: 66.04
glider: 512
mission: 1
dive: 34
start: 12 16 110 20 43 6
data:
$ID,512
$MISSION,1
$DIVE,34
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1020
$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,452
$T_MISSION,900
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$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,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3737.2622
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2500
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3347
$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,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,202131,2155.763,-15810.369,44,1.2,44,9.9
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-78.5
$GPS2,204213,2155.788,-15810.494,13,1.4,18,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.030,0.227
$KALMAN_X,9933.1,-858.3,-494.0,-7650.0,4241.7
$KALMAN_Y,-26779.0,1295.4,681.7,53512.4,-12591.8
$MHEAD_RNG_PITCHd_Wd,357.7,92885,-12.1,-7.006
$D_GRID,950
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,79,0.00,0.00,-62.42,0.000,2,0.000,0.000,42,2513,3090
$GC,81,-0.66,-146.0,3.7,-4.7,8,114,11.90,2.35,-15.48,0.000,4,0.282,0.080,2518,3907,3946
$GC,291,-0.66,-146.0,80.1,-26.1,31,300,0.00,2.12,0.00,0.000,6,0.000,0.031,2522,2520,3947
$GC,553,-0.66,-146.0,179.1,-31.9,56,557,0.00,2.28,0.00,0.000,4,0.000,0.071,2512,3910,3947
$GC,620,-0.66,-146.0,199.5,-27.0,62,624,0.00,2.10,0.00,0.000,6,0.000,0.029,2519,2490,3947
$GC,874,-0.66,-146.0,271.9,-28.3,69,878,0.00,2.30,0.00,0.000,4,0.000,0.071,2509,3898,3947
$GC,911,-0.66,-146.0,281.8,-25.4,69,919,0.00,2.10,0.00,0.000,6,0.000,0.028,2516,2496,3947
$GC,1164,-0.66,-146.0,338.3,-22.8,76,1168,0.00,2.30,0.00,0.000,4,0.000,0.071,2505,3906,3947
$GC,1217,-0.66,-146.0,349.8,-19.0,77,1222,0.00,2.10,0.00,0.000,6,0.000,0.030,2513,2502,3947
$GC,1490,-0.66,-146.0,406.7,-21.2,84,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2498,3945
$GC,1733,-0.66,-146.0,456.9,-20.4,90,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2498,3943
$GC,1978,-0.66,-146.0,506.1,-20.2,96,1982,0.00,2.30,0.00,0.000,4,0.000,0.076,2503,3902,3941
$GC,2032,-0.66,-146.0,517.3,-18.6,97,2037,0.00,2.10,0.00,0.000,6,0.000,0.033,2511,2501,3940
$GC,2305,-0.66,-146.0,568.7,-18.9,104,2308,0.00,2.30,0.00,0.000,4,0.000,0.075,2502,3901,3938
$GC,2365,-0.66,-146.0,579.8,-17.0,105,2370,0.00,2.12,0.00,0.000,6,0.000,0.034,2510,2502,3937
$GC,2637,-0.66,-146.0,628.0,-17.5,112,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2497,3934
$GC,2881,-0.66,-146.0,669.8,-17.0,118,2885,0.00,2.30,0.00,0.000,4,0.000,0.078,2501,3897,3931
$GC,2975,-0.66,-146.0,685.2,-15.5,120,2980,0.00,2.12,0.00,0.000,6,0.000,0.035,2509,2498,3930
$GC,3260,-0.66,-146.0,734.4,-17.6,127,3264,0.00,2.30,0.00,0.000,4,0.000,0.077,2500,3896,3926
$GC,3325,-0.66,-146.0,746.2,-15.4,128,3330,0.00,2.10,0.00,0.000,6,0.000,0.035,2508,2502,3926
$GC,3586,-0.66,-146.0,790.6,-17.2,135,3590,0.00,2.30,0.00,0.000,4,0.000,0.080,2499,3896,3923
$GC,3635,-0.66,-146.0,799.4,-16.8,136,3640,0.00,2.12,0.00,0.000,6,0.000,0.035,2507,2502,3922
$GC,3920,-0.66,-146.0,848.2,-17.3,143,3924,0.00,2.30,0.00,0.000,4,0.000,0.080,2498,3896,3919
$GC,4008,-0.66,-146.0,863.9,-15.5,145,4013,0.00,2.15,0.00,0.000,6,0.000,0.036,2506,2494,3919
$GC,4292,-0.66,-146.0,912.7,-17.3,152,4295,0.00,2.33,0.00,0.000,4,0.000,0.080,2497,3901,3917
$GC,4363,-0.66,-146.0,925.2,-15.4,153,4368,0.08,2.12,0.00,0.000,6,0.171,0.038,2529,2495,3917
$STATE,4542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4542,begin apogee
$GC,4545,-0.32,0.0,952.0,15.0,158,4669,0.40,0.00,120.45,1.335,6,0.180,0.000,2642,2382,3347
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4671,0.66,146.0,959.7,0.0,161,4809,1.08,2.47,130.45,1.282,4,0.143,0.066,2955,3780,2750
$GC,5061,0.66,146.0,948.0,11.0,170,5066,0.00,2.25,0.00,0.000,6,0.000,0.035,2965,2366,2741
$GC,5346,0.66,146.0,923.8,8.5,177,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2364,2737
$GC,5588,0.66,146.0,903.6,8.4,183,5592,0.00,2.33,0.00,0.000,4,0.000,0.064,2966,3782,2736
$GC,5774,0.66,146.0,886.4,9.4,187,5778,0.00,2.17,0.00,0.000,6,0.000,0.036,2976,2361,2735
$GC,6050,0.66,146.0,862.8,8.5,194,6054,0.00,2.33,0.00,0.000,4,0.000,0.062,2971,3786,2733
$GC,6082,0.66,146.0,859.9,8.5,194,6087,0.00,2.20,0.00,0.000,6,0.000,0.036,2979,2368,2733
$GC,6340,0.66,146.0,839.0,8.1,201,6344,0.00,2.33,0.00,0.000,4,0.000,0.065,2979,3788,2731
$GC,6411,0.66,146.0,832.3,9.4,202,6416,0.00,2.20,0.00,0.000,6,0.000,0.038,2988,2369,2731
$GC,6667,0.66,146.0,811.8,7.8,209,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2363,2730
$GC,6911,0.68,159.6,795.6,6.6,215,6925,0.00,2.33,9.02,1.078,4,0.000,0.064,2986,3778,2696
$GC,6947,0.70,174.2,793.2,6.5,215,6968,0.00,2.17,14.88,1.146,6,0.000,0.037,2995,2377,2636
$GC,7240,0.70,174.2,763.1,10.7,223,7244,0.00,2.17,0.00,0.000,4,0.000,0.041,3006,962,2632
$GC,7294,0.70,174.2,757.2,10.4,224,7299,0.00,2.28,0.00,0.000,6,0.000,0.054,3000,2369,2632
$GC,7574,0.70,174.2,728.7,10.3,231,7578,0.00,2.17,0.00,0.000,4,0.000,0.041,3008,962,2630
$GC,7663,0.70,174.2,718.9,11.6,233,7668,0.15,2.25,0.00,0.000,6,0.252,0.058,2979,2371,2630
$GC,7951,0.70,174.2,688.5,10.2,240,7955,0.00,2.28,0.00,0.000,4,0.000,0.065,2979,3782,2629
$GC,8208,0.70,174.2,660.3,11.0,245,8213,0.00,2.17,0.00,0.000,6,0.000,0.037,2988,2372,2629
$GC,8463,0.70,174.2,638.0,8.2,252,8467,0.00,2.30,0.00,0.000,4,0.000,0.063,2986,3785,2628
$GC,8714,0.70,174.2,614.2,9.9,257,8719,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2368,2628
$GC,8975,0.70,174.2,592.3,8.2,264,8979,0.00,2.30,0.00,0.000,4,0.000,0.064,2996,3788,2627
$GC,8996,0.70,174.2,590.3,9.3,264,9002,0.10,2.17,0.00,0.000,6,0.270,0.038,2984,2384,2628
$GC,9265,0.70,174.2,568.5,8.4,271,9269,0.00,2.17,0.00,0.000,4,0.000,0.042,2993,949,2627
$GC,9483,0.71,180.2,551.0,6.8,275,9493,0.00,2.28,5.07,0.819,6,0.000,0.054,2986,2375,2612
$GC,9733,0.71,180.2,532.4,7.4,282,9736,0.00,2.25,0.00,0.000,4,0.000,0.064,2986,3780,2611
$GC,9989,0.71,180.2,512.0,8.6,287,9994,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2362,2611
$GC,10245,0.73,198.0,494.1,6.4,294,10269,0.00,2.35,16.80,1.008,4,0.000,0.063,2996,3780,2538
$GC,10376,0.73,198.0,480.4,10.9,297,10380,0.00,2.17,0.00,0.000,6,0.000,0.037,3006,2379,2537
$GC,10664,0.73,198.0,449.3,10.8,304,10668,0.00,2.30,0.00,0.000,4,0.000,0.063,3003,3792,2536
$GC,10921,0.73,198.0,418.6,12.2,309,10926,0.00,2.20,0.00,0.000,6,0.000,0.038,3013,2360,2536
$GC,11177,0.73,198.0,392.5,10.0,316,11181,0.00,2.30,0.00,0.000,4,0.000,0.062,3013,3782,2534
$GC,11293,0.73,198.0,381.3,8.7,318,11299,0.12,2.17,0.00,0.000,6,0.258,0.037,2994,2371,2535
$GC,11549,0.73,198.0,361.3,7.8,325,11553,0.00,2.12,0.00,0.000,4,0.000,0.039,3003,954,2534
$GC,11806,0.73,198.0,339.1,9.0,330,11810,0.00,2.25,0.00,0.000,6,0.000,0.053,3000,2370,2534
$GC,12061,0.73,198.0,318.5,7.6,337,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2370,2534
$GC,12305,0.86,305.7,307.5,3.5,343,12401,0.00,2.38,91.32,0.910,4,0.000,0.062,3000,3777,2100
$GC,12434,0.86,305.7,294.3,15.9,346,12439,0.00,2.25,0.00,0.000,6,0.000,0.036,3009,2382,2097
$GC,12711,0.86,305.7,248.3,17.1,353,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2378,2090
$GC,12955,0.86,305.7,205.9,17.8,359,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2378,2088
$GC,13209,0.86,305.7,166.1,15.0,380,13213,0.00,2.17,0.00,0.000,4,0.000,0.038,3023,952,2087
$GC,13234,0.86,305.7,162.7,16.8,382,13238,0.00,2.25,0.00,0.000,6,0.000,0.054,3023,2368,2086
$GC,13495,0.86,305.7,123.0,15.9,406,13499,0.00,2.28,0.00,0.000,4,0.000,0.060,3023,3789,2086
$GC,13505,0.86,305.7,121.3,15.1,406,13514,0.00,2.20,0.00,0.000,6,0.000,0.035,3034,2371,2086
$GC,13767,0.86,305.7,85.2,12.3,431,13771,0.00,2.15,0.00,0.000,4,0.000,0.036,3045,945,2086
$GC,13966,0.86,305.7,62.4,11.3,449,13971,0.00,2.22,0.00,0.000,6,0.000,0.047,3040,2374,2086
$GC,14228,0.86,305.7,28.4,13.1,474,14236,0.00,2.25,0.00,0.000,4,0.000,0.058,3040,3774,2086
$GC,14296,0.86,305.7,18.3,14.8,486,14305,0.00,2.15,0.00,0.000,6,0.000,0.031,3050,2353,2086
$STATE,14411,end climb,SURFACE_DEPTH_REACHED
$STATE,14411,begin surface coast
$FINISH,0.2,1.023233
$STATE,14436,end surface coast,CONTROL_FINISHED_OK
$STATE,14436,begin surface
$SM_CCo,14451,56.92,0.578,0,0,1634,420.19
$SM_GC,2.03,0.00,0.00,56.92,0.000,0.000,0.578,49,2521,1634,-8.44,0.59,420.19
$IRIDIUM_FIX,2148.09,-15808.03,110300,202025
$TT8_MAMPS,0.023777
$HUMID,1676
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.9,9.612
$10V_AH,10.7,4.620
$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,22.125,143.150,388.000,56.925,0.000,104.698,208.512,616.603,0.000,0.000,0.000,18.848,1198.839,10709.763,541.460,2214.904,1073.213,33.351,1530.157,0.000,2188.268,0.000,0.543,0.000
$DEVICE_MAMPS,282.256,79.768,1335.347,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,348.321,613.893,632.227,130.792,535.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41509,511
$CAP_FILE_SIZE,131059,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,1
$GPS,171210,004607,2157.396,-15810.737,40,1.0,40,9.9