version: 66.04
glider: 512
mission: 1
dive: 41
start: 12 18 110 3 42 26
data:
$ID,512
$MISSION,1
$DIVE,41
$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,-3871.4788
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,032737,2206.326,-15818.202,35,1.4,35,9.9
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.5
$GPS2,034132,2206.255,-15818.317,15,1.5,15,9.9
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.054,0.222
$KALMAN_X,7391.4,93.9,-774.0,-19240.0,357.6
$KALMAN_Y,-36594.6,770.4,289.7,83646.3,-8543.0
$MHEAD_RNG_PITCHd_Wd,336.4,78279,-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,-146.0,0.0,0.0,0,117,0.00,0.00,-100.47,0.000,2,0.000,0.000,45,2511,3146
$GC,119,-0.66,-146.0,3.7,-4.6,13,152,11.65,2.30,-14.07,0.000,4,0.277,0.084,2516,3897,3943
$GC,284,-0.66,-146.0,66.1,-28.1,31,288,0.00,2.12,0.00,0.000,6,0.000,0.030,2521,2496,3943
$GC,550,-0.66,-146.0,173.5,-36.3,56,554,0.00,2.33,0.00,0.000,4,0.000,0.078,2512,3891,3944
$GC,573,-0.66,-146.0,181.4,-36.3,58,577,0.00,2.08,0.00,0.000,6,0.000,0.030,2518,2492,3944
$GC,828,-0.66,-146.0,266.8,-31.8,68,832,0.00,2.35,0.00,0.000,4,0.000,0.081,2509,3891,3944
$GC,866,-0.66,-146.0,277.2,-26.0,68,873,0.00,2.08,0.00,0.000,6,0.000,0.029,2515,2509,3945
$GC,1116,-0.66,-146.0,335.7,-22.6,75,1120,0.00,2.10,0.00,0.000,4,0.000,0.031,2523,1077,3945
$GC,1187,-0.66,-146.0,349.3,-15.6,76,1192,0.00,2.33,0.00,0.000,6,0.000,0.064,2511,2497,3945
$GC,1448,-0.66,-146.0,407.7,-23.4,83,1452,0.00,2.25,0.00,0.000,4,0.000,0.069,2500,3897,3943
$GC,1538,-0.66,-146.0,427.4,-19.5,85,1542,0.00,2.10,0.00,0.000,6,0.000,0.031,2509,2485,3943
$GC,1827,-0.66,-146.0,490.8,-22.0,92,1831,0.00,2.38,0.00,0.000,4,0.000,0.086,2499,3898,3939
$GC,1943,-0.66,-146.0,514.6,-18.2,94,1948,0.00,2.12,0.00,0.000,6,0.000,0.032,2507,2496,3938
$GC,2200,-0.66,-146.0,565.1,-19.8,101,2204,0.00,2.35,0.00,0.000,4,0.000,0.084,2497,3904,3935
$GC,2276,-0.66,-146.0,579.8,-15.9,102,2283,0.00,2.12,0.00,0.000,6,0.000,0.034,2506,2505,3934
$GC,2526,-0.66,-146.0,629.9,-21.0,109,2531,0.10,2.33,0.00,0.000,4,0.210,0.084,2519,3901,3931
$GC,2597,-0.66,-146.0,643.5,-16.8,110,2602,0.00,2.12,0.00,0.000,6,0.000,0.034,2523,2501,3929
$GC,2853,-0.66,-146.0,690.4,-18.4,117,2857,0.00,2.33,0.00,0.000,4,0.000,0.084,2514,3896,3927
$GC,2902,-0.66,-146.0,699.4,-16.8,118,2907,0.00,2.12,0.00,0.000,6,0.000,0.034,2519,2499,3926
$GC,3185,-0.66,-146.0,748.3,-17.3,125,3189,0.00,2.33,0.00,0.000,4,0.000,0.082,2509,3900,3922
$GC,3239,-0.66,-146.0,757.8,-16.1,126,3244,0.00,2.12,0.00,0.000,6,0.000,0.035,2512,2510,3921
$GC,3517,-0.66,-146.0,805.0,-17.2,133,3521,0.00,2.33,0.00,0.000,4,0.000,0.082,2503,3904,3919
$GC,3594,-0.66,-146.0,818.3,-16.3,134,3599,0.00,2.12,0.00,0.000,6,0.000,0.037,2508,2499,3918
$GC,3851,-0.66,-146.0,861.8,-17.3,141,3855,0.00,2.33,0.00,0.000,4,0.000,0.084,2499,3895,3916
$GC,3950,-0.66,-146.0,879.2,-17.4,143,3955,0.00,2.15,0.00,0.000,6,0.000,0.036,2507,2493,3915
$GC,4222,-0.66,-146.0,924.3,-16.5,150,4226,0.00,2.35,0.00,0.000,4,0.000,0.086,2498,3893,3912
$GC,4299,-0.66,-146.0,937.1,-14.6,151,4306,0.00,2.10,0.00,0.000,6,0.000,0.037,2506,2507,3911
$STATE,4385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4385,begin apogee
$GC,4389,-0.32,0.0,950.7,15.8,154,4510,0.47,0.00,117.80,1.303,6,0.183,0.000,2642,2378,3347
$STATE,4511,end apogee,CONTROL_FINISHED_OK
$STATE,4511,begin climb
$GC,4512,0.66,146.0,957.2,0.0,157,4649,1.05,2.35,129.82,1.284,4,0.140,0.038,2961,931,2751
$GC,4901,0.66,146.0,942.8,9.5,166,4906,0.00,2.40,0.00,0.000,6,0.000,0.057,2958,2367,2743
$GC,5186,0.66,146.0,916.1,9.1,173,5190,0.00,2.20,0.00,0.000,4,0.000,0.039,2966,939,2738
$GC,5442,0.66,146.0,894.9,7.5,178,5448,0.00,2.33,0.00,0.000,6,0.000,0.056,2967,2366,2737
$GC,5698,0.67,151.7,876.9,6.8,185,5702,0.00,2.17,0.00,0.000,4,0.000,0.039,2976,937,2735
$GC,5900,0.72,194.7,864.6,5.6,189,5945,0.00,2.30,40.90,1.252,6,0.000,0.055,2971,2371,2553
$GC,6201,0.72,194.7,831.1,11.9,197,6205,0.00,2.33,0.00,0.000,4,0.000,0.066,2970,3785,2545
$GC,6272,0.72,194.7,821.1,14.4,198,6277,0.00,2.25,0.00,0.000,6,0.000,0.038,2979,2356,2544
$GC,6528,0.72,194.7,788.0,12.9,205,6532,0.00,2.38,0.00,0.000,4,0.000,0.067,2979,3791,2543
$GC,6678,0.72,194.7,765.2,15.0,208,6683,0.00,2.22,0.00,0.000,6,0.000,0.038,2988,2361,2542
$GC,6950,0.72,194.7,726.7,14.2,215,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2355,2541
$GC,7195,0.72,194.7,691.8,14.1,221,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2355,2540
$GC,7438,0.72,194.7,658.2,13.7,227,7441,0.00,2.12,0.00,0.000,4,0.000,0.040,2999,954,2539
$GC,7515,0.72,194.7,648.0,13.7,228,7519,0.00,2.30,0.00,0.000,6,0.000,0.057,3000,2371,2539
$GC,7770,0.72,194.7,614.5,12.8,235,7774,0.00,2.28,0.00,0.000,4,0.000,0.066,2999,3789,2538
$GC,7881,0.72,194.7,599.1,13.2,237,7886,0.00,2.17,0.00,0.000,6,0.000,0.038,3009,2379,2538
$GC,8148,0.72,194.7,566.3,12.2,244,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2377,2538
$GC,8391,0.72,194.7,538.4,11.3,250,8395,0.00,2.15,0.00,0.000,4,0.000,0.039,3021,956,2537
$GC,8442,0.72,194.7,533.1,10.2,251,8447,0.15,2.25,0.00,0.000,6,0.234,0.054,2990,2385,2537
$GC,8718,0.72,194.7,506.3,9.5,258,8722,0.00,2.25,0.00,0.000,4,0.000,0.065,2986,3788,2536
$GC,8800,0.72,194.7,497.4,11.4,259,8807,0.00,2.17,0.00,0.000,6,0.000,0.038,2995,2375,2536
$GC,9053,0.72,194.7,474.8,8.8,266,9057,0.00,2.28,0.00,0.000,4,0.000,0.065,2995,3782,2536
$GC,9310,0.72,194.7,446.8,10.2,271,9317,0.00,2.17,0.00,0.000,6,0.000,0.037,3006,2361,2536
$GC,9559,0.72,194.7,423.6,9.6,278,9563,0.00,2.30,0.00,0.000,4,0.000,0.065,3007,3781,2536
$GC,9704,0.72,194.7,407.9,10.0,281,9709,0.12,2.15,0.00,0.000,6,0.258,0.036,2989,2375,2535
$GC,9982,0.72,194.7,383.2,8.9,288,9986,0.00,2.12,0.00,0.000,4,0.000,0.039,2998,956,2535
$GC,10161,0.72,194.7,368.8,8.7,292,10165,0.00,2.25,0.00,0.000,6,0.000,0.054,2998,2378,2535
$GC,10445,0.76,223.1,348.9,6.1,299,10475,0.00,2.22,22.48,0.937,4,0.000,0.038,3008,961,2437
$GC,10653,0.76,223.1,331.9,9.0,303,10658,0.00,2.28,0.00,0.000,6,0.000,0.054,3008,2372,2434
$GC,10909,0.76,223.1,302.8,12.4,310,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2373,2431
$GC,11154,0.76,223.1,275.8,10.7,316,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2372,2431
$GC,11396,0.76,223.1,256.1,8.0,322,11400,0.00,2.15,0.00,0.000,4,0.000,0.038,3020,948,2431
$GC,11653,0.78,239.1,238.5,6.5,327,11674,0.00,2.25,14.35,0.818,6,0.000,0.052,3019,2367,2372
$GC,11951,0.78,239.1,211.2,9.8,335,11956,0.00,2.15,0.00,0.000,4,0.000,0.038,3029,960,2369
$GC,12052,0.78,239.1,202.5,8.1,337,12056,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2374,2369
$GC,12313,0.78,239.1,180.7,7.7,357,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2374,2368
$GC,12566,0.79,250.8,157.6,6.6,381,12583,0.00,2.17,11.27,0.716,4,0.000,0.035,3036,947,2324
$GC,12593,0.79,250.8,155.6,7.4,383,12602,0.10,2.25,0.00,0.000,6,0.219,0.048,3010,2368,2323
$GC,12856,0.79,251.8,135.9,7.0,408,12860,0.00,2.12,0.00,0.000,4,0.000,0.034,3023,953,2322
$GC,13112,0.95,378.7,123.4,2.9,431,13222,0.00,2.22,104.85,0.742,6,0.000,0.048,3023,2374,1802
$GC,13476,0.95,378.7,70.4,16.9,464,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2374,1794
$GC,13731,0.95,378.7,25.9,17.9,490,13739,0.00,2.17,0.00,0.000,4,0.000,0.035,3034,962,1792
$GC,13768,0.95,378.7,19.5,17.6,496,13776,0.00,2.22,0.00,0.000,6,0.000,0.047,3028,2363,1792
$STATE,13872,end climb,SURFACE_DEPTH_REACHED
$STATE,13872,begin surface coast
$FINISH,0.1,1.023487
$STATE,13895,end surface coast,CONTROL_FINISHED_OK
$STATE,13895,begin surface
$SM_CCo,13910,19.55,0.587,0,0,1633,420.19
$SM_GC,1.54,0.00,0.00,19.55,0.000,0.000,0.587,50,2524,1633,-8.44,0.68,420.19
$IRIDIUM_FIX,2157.39,-15819.69,130300,030306
$TT8_MAMPS,0.023777
$HUMID,1682
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.9,10.844
$10V_AH,10.7,5.391
$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,21.925,138.450,441.475,19.550,0.000,86.956,99.949,408.726,0.250,0.000,0.000,15.332,1178.745,10033.661,543.741,2266.314,731.363,33.357,1574.934,0.000,2241.595,0.000,0.543,0.000
$DEVICE_MAMPS,276.887,85.904,1303.133,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,351.335,670.154,690.963,132.213,549.177,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41467,519
$CAP_FILE_SIZE,125274,0
$CFSIZE,260165632,257740800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,181210,073537,2208.073,-15819.320,27,1.8,27,9.9