version: 66.04
glider: 512
mission: 1
dive: 38
start: 12 17 110 14 14 51
data:
$ID,512
$MISSION,1
$DIVE,38
$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,-3820.9019
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,135031,2201.781,-15814.804,42,1.6,42,9.9
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.8
$GPS2,141356,2201.771,-15815.014,14,1.5,14,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.038,0.225
$KALMAN_X,9080.3,406.5,-5.7,-16349.5,-129.3
$KALMAN_Y,-32049.8,1221.3,522.7,70101.2,-9675.0
$MHEAD_RNG_PITCHd_Wd,340.6,84066,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,71,0.00,0.00,-55.35,0.000,2,0.000,0.000,45,2521,3128
$GC,73,-0.66,-146.0,3.5,-4.7,7,106,11.77,2.28,-14.68,0.000,4,0.281,0.087,2518,3897,3943
$GC,248,-0.66,-146.0,72.8,-28.2,26,252,0.00,2.12,0.00,0.000,6,0.000,0.031,2523,2497,3945
$GC,515,-0.66,-146.0,174.6,-37.3,51,519,0.00,2.38,0.00,0.000,4,0.000,0.089,2513,3886,3945
$GC,606,-0.66,-146.0,203.9,-24.7,58,611,0.00,2.10,0.00,0.000,6,0.000,0.030,2520,2490,3945
$GC,884,-0.66,-146.0,283.8,-28.2,65,888,0.00,2.08,0.00,0.000,4,0.000,0.032,2528,1084,3946
$GC,940,-0.66,-146.0,297.1,-19.1,66,944,0.00,2.30,0.00,0.000,6,0.000,0.069,2523,2488,3946
$GC,1210,-0.66,-146.0,356.8,-22.6,73,1214,0.00,2.28,0.00,0.000,4,0.000,0.070,2512,3901,3945
$GC,1255,-0.66,-146.0,366.8,-21.2,74,1258,0.00,2.10,0.00,0.000,6,0.000,0.031,2519,2492,3945
$GC,1544,-0.66,-146.0,428.7,-21.6,81,1548,0.00,2.35,0.00,0.000,4,0.000,0.084,2510,3900,3943
$GC,1627,-0.66,-146.0,445.8,-17.9,83,1631,0.00,2.08,0.00,0.000,6,0.000,0.032,2515,2492,3943
$GC,1915,-0.66,-146.0,509.1,-22.0,90,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2488,3940
$GC,2160,-0.66,-146.0,557.9,-19.7,96,2164,0.00,2.35,0.00,0.000,4,0.000,0.085,2504,3901,3938
$GC,2202,-0.66,-146.0,566.7,-18.5,97,2207,0.00,2.10,0.00,0.000,6,0.000,0.034,2511,2507,3937
$GC,2486,-0.66,-146.0,618.5,-18.4,104,2490,0.00,2.35,0.00,0.000,4,0.000,0.088,2502,3900,3933
$GC,2576,-0.66,-146.0,634.0,-15.6,106,2580,0.00,2.10,0.00,0.000,6,0.000,0.035,2510,2487,3932
$GC,2865,-0.66,-146.0,684.7,-17.6,113,2869,0.00,2.38,0.00,0.000,4,0.000,0.088,2501,3901,3929
$GC,2942,-0.66,-146.0,698.2,-15.3,114,2949,0.00,2.12,0.00,0.000,6,0.000,0.036,2508,2499,3928
$GC,3193,-0.66,-146.0,741.1,-17.5,121,3197,0.00,2.35,0.00,0.000,4,0.000,0.087,2498,3901,3925
$GC,3252,-0.66,-146.0,751.8,-16.1,122,3258,0.00,2.12,0.00,0.000,6,0.000,0.036,2507,2495,3924
$GC,3519,-0.66,-146.0,796.7,-16.8,129,3523,0.00,2.38,0.00,0.000,4,0.000,0.088,2497,3903,3921
$GC,3596,-0.66,-146.0,809.8,-15.4,130,3602,0.08,2.12,0.00,0.000,6,0.175,0.037,2529,2496,3920
$GC,3852,-0.66,-146.0,846.3,-14.4,137,3855,0.00,2.35,0.00,0.000,4,0.000,0.087,2524,3899,3919
$GC,3889,-0.66,-146.0,852.1,-14.9,137,3897,0.00,2.12,0.00,0.000,6,0.000,0.036,2525,2512,3918
$GC,4141,-0.66,-146.0,888.9,-14.8,144,4145,0.00,2.33,0.00,0.000,4,0.000,0.087,2521,3898,3916
$GC,4184,-0.66,-146.0,895.7,-14.0,145,4188,0.00,2.15,0.00,0.000,6,0.000,0.038,2521,2499,3915
$GC,4467,-0.66,-146.0,935.5,-14.1,152,4471,0.00,2.35,0.00,0.000,4,0.000,0.085,2511,3901,3913
$GC,4533,-0.66,-146.0,945.3,-14.6,153,4538,0.00,2.15,0.00,0.000,6,0.000,0.038,2518,2503,3912
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4599,-0.32,0.0,954.4,15.1,155,4720,0.43,0.00,118.10,1.307,6,0.183,0.000,2639,2374,3347
$STATE,4721,end apogee,CONTROL_FINISHED_OK
$STATE,4721,begin climb
$GC,4722,0.66,146.0,962.0,0.0,158,4859,1.08,2.50,129.93,1.256,4,0.143,0.071,2953,3786,2750
$GC,4953,0.66,146.0,965.4,7.9,163,4958,0.00,2.30,0.00,0.000,6,0.000,0.036,2963,2356,2744
$GC,5220,0.66,146.0,943.4,8.2,170,5224,0.00,2.38,0.00,0.000,4,0.000,0.064,2958,3790,2740
$GC,5477,0.66,146.0,918.9,9.9,175,5482,0.00,2.22,0.00,0.000,6,0.000,0.036,2967,2362,2737
$GC,5732,0.66,146.0,896.8,8.7,182,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2356,2735
$GC,5976,0.66,146.0,876.1,8.5,188,5980,0.00,2.35,0.00,0.000,4,0.000,0.064,2967,3795,2734
$GC,6036,0.66,146.0,870.4,9.4,189,6041,0.00,2.20,0.00,0.000,6,0.000,0.036,2976,2369,2733
$GC,6310,0.66,146.0,847.6,8.2,196,6314,0.00,2.33,0.00,0.000,4,0.000,0.063,2971,3797,2732
$GC,6565,0.66,146.0,825.4,8.5,201,6573,0.00,2.20,0.00,0.000,6,0.000,0.036,2980,2363,2731
$GC,6815,0.67,150.1,807.7,6.9,208,6819,0.00,2.30,0.00,0.000,4,0.000,0.065,2979,3787,2730
$GC,6977,0.67,151.0,796.4,7.0,211,6981,0.00,2.17,0.00,0.000,6,0.000,0.038,2988,2372,2730
$GC,7232,0.71,187.2,781.3,5.8,218,7267,0.00,0.00,33.10,1.187,6,0.000,0.000,2989,2366,2583
$GC,7475,0.71,187.2,754.7,12.0,224,7479,0.00,2.35,0.00,0.000,4,0.000,0.064,2986,3790,2578
$GC,7490,0.71,187.2,752.6,12.3,224,7495,0.00,2.22,0.00,0.000,6,0.000,0.038,2995,2377,2577
$GC,7764,0.71,187.2,718.9,12.2,231,7768,0.00,2.33,0.00,0.000,4,0.000,0.063,2995,3798,2576
$GC,7920,0.71,187.2,696.6,14.7,234,7925,0.00,2.22,0.00,0.000,6,0.000,0.036,3005,2370,2575
$GC,8182,0.71,187.2,662.5,13.0,241,8186,0.00,2.30,0.00,0.000,4,0.000,0.061,3000,3789,2574
$GC,8230,0.71,187.2,655.9,13.6,242,8235,0.00,2.20,0.00,0.000,6,0.000,0.038,3009,2359,2573
$GC,8508,0.71,187.2,623.6,11.3,249,8512,0.00,2.12,0.00,0.000,4,0.000,0.039,3021,960,2573
$GC,8598,0.71,187.2,614.9,9.6,251,8603,0.17,2.25,0.00,0.000,6,0.237,0.055,2984,2379,2572
$GC,8880,0.71,187.2,590.2,8.7,258,8884,0.00,2.25,0.00,0.000,4,0.000,0.063,2984,3783,2572
$GC,8901,0.71,187.2,588.1,10.3,258,8906,0.00,2.17,0.00,0.000,6,0.000,0.038,2992,2377,2572
$GC,9168,0.71,187.2,562.0,10.2,265,9172,0.00,2.30,0.00,0.000,4,0.000,0.062,2985,3795,2571
$GC,9340,0.71,187.2,541.2,11.7,268,9347,0.00,2.20,0.00,0.000,6,0.000,0.038,2995,2359,2571
$GC,9590,0.71,187.2,514.8,10.4,275,9594,0.00,2.12,0.00,0.000,4,0.000,0.040,3006,956,2571
$GC,9847,0.71,187.2,492.7,7.8,280,9852,0.00,2.25,0.00,0.000,6,0.000,0.052,3000,2374,2571
$GC,10102,0.71,187.2,473.8,7.5,287,10106,0.00,2.12,0.00,0.000,4,0.000,0.040,3009,969,2570
$GC,10219,0.75,212.9,466.4,6.2,289,10245,0.00,2.22,21.25,0.994,6,0.000,0.054,3009,2365,2479
$GC,10522,0.75,212.9,433.4,11.7,297,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2365,2474
$GC,10766,0.75,212.9,403.9,12.3,303,10770,0.00,2.28,0.00,0.000,4,0.000,0.062,3008,3783,2474
$GC,10831,0.75,212.9,395.8,12.6,304,10837,0.00,2.17,0.00,0.000,6,0.000,0.036,3020,2377,2473
$GC,11099,0.75,212.9,369.4,9.3,311,11104,0.12,2.28,0.00,0.000,4,0.251,0.061,2997,3780,2472
$GC,11355,0.75,212.9,343.0,10.5,316,11363,0.00,2.17,0.00,0.000,6,0.000,0.036,3006,2360,2472
$GC,11605,0.75,212.9,322.8,8.0,323,11609,0.00,2.30,0.00,0.000,4,0.000,0.061,3007,3789,2472
$GC,11742,0.75,212.9,310.9,10.8,326,11746,0.00,2.15,0.00,0.000,6,0.000,0.037,3018,2362,2472
$GC,12030,0.75,212.9,282.3,10.1,333,12034,0.00,2.10,0.00,0.000,4,0.000,0.039,3025,963,2472
$GC,12170,0.75,212.9,270.6,8.0,336,12175,0.15,2.20,0.00,0.000,6,0.219,0.051,2993,2371,2472
$GC,12446,0.84,287.1,257.2,4.6,343,12515,0.00,2.40,62.03,0.851,4,0.000,0.059,2986,3789,2175
$GC,12532,0.84,287.1,250.3,12.3,345,12537,0.00,2.25,0.00,0.000,6,0.000,0.035,2995,2379,2173
$GC,12816,0.84,287.1,209.7,14.3,352,12819,0.00,2.20,0.00,0.000,4,0.000,0.038,3007,946,2166
$GC,13072,0.84,287.1,174.6,11.3,369,13076,0.00,2.28,0.00,0.000,6,0.000,0.049,3000,2375,2164
$GC,13338,0.84,287.1,141.9,10.4,394,13342,0.00,2.17,0.00,0.000,4,0.000,0.037,3009,943,2163
$GC,13440,0.84,287.1,131.9,9.0,403,13445,0.00,2.28,0.00,0.000,6,0.000,0.053,3010,2371,2163
$GC,13703,0.84,287.1,103.6,12.3,427,13706,0.00,2.25,0.00,0.000,4,0.000,0.059,3010,3783,2163
$GC,13780,0.84,287.1,94.1,12.7,434,13784,0.00,2.15,0.00,0.000,6,0.000,0.031,3020,2355,2163
$GC,14048,0.84,287.1,69.2,9.6,459,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2353,2163
$GC,14302,0.84,287.1,44.7,9.5,483,14306,0.00,2.10,0.00,0.000,4,0.000,0.033,3032,943,2164
$GC,14413,0.84,287.1,33.4,9.9,493,14417,0.00,2.22,0.00,0.000,6,0.000,0.047,3028,2381,2166
$GC,14673,0.84,287.1,8.7,10.4,538,14682,0.00,2.15,0.00,0.000,4,0.000,0.033,3038,953,2166
$GC,14720,0.84,287.1,3.5,11.4,546,14729,0.00,2.22,0.00,0.000,6,0.000,0.047,3039,2376,2167
$STATE,14735,end climb,SURFACE_DEPTH_REACHED
$STATE,14735,begin surface coast
$FINISH,0.3,1.009914
$STATE,14763,end surface coast,CONTROL_FINISHED_OK
$STATE,14763,begin surface
$SM_CCo,14778,66.60,0.573,0,0,1634,420.19
$SM_GC,1.54,0.00,0.00,66.60,0.000,0.000,0.573,52,2514,1634,-8.43,0.40,420.19
$IRIDIUM_FIX,2152.74,-15815.37,120300,141440
$TT8_MAMPS,0.023777
$HUMID,1625
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.9,10.291
$10V_AH,10.7,5.057
$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,22.075,161.150,364.400,66.600,0.000,130.221,203.638,695.267,0.250,0.000,0.000,14.751,1284.959,10807.104,551.049,2408.726,1186.539,33.381,1583.734,0.000,2386.473,0.000,0.544,0.000
$DEVICE_MAMPS,280.722,88.972,1306.968,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,376.856,710.589,733.565,158.812,653.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44767,553
$CAP_FILE_SIZE,141818,0
$CFSIZE,260165632,257921024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,171210,182330,2203.738,-15815.839,41,1.3,41,9.9