version: 66.04
glider: 512
mission: 1
dive: 66
start: 12 22 110 14 18 42
data:
$ID,512
$MISSION,1
$DIVE,66
$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,395
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4304.5308
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$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,2490
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3150
$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
$GPS1,141306,2231.275,-15810.308,32,1.8,32,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.2
$GPS2,141749,2231.317,-15810.303,14,1.7,31,10.0
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.164,0.175
$KALMAN_X,-55655.4,1419.4,1218.8,54186.3,-13774.2
$KALMAN_Y,-66496.2,1041.6,304.0,159685.5,-8297.8
$MHEAD_RNG_PITCHd_Wd,33.2,30850,-14.1,-8.017
$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,-0.74,-146.0,0.0,0.0,0,79,0.00,0.00,-62.85,0.000,2,0.000,0.000,49,2502,3075
$GC,81,-0.74,-146.0,3.5,-4.9,8,114,11.77,2.55,-12.68,0.000,4,0.271,0.121,2592,3892,3747
$GC,194,-0.74,-146.0,43.7,-23.8,22,202,0.00,2.15,0.00,0.000,6,0.000,0.033,2600,2506,3749
$GC,456,-0.74,-146.0,131.6,-32.6,47,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2500,3750
$GC,709,-0.74,-146.0,188.1,-19.5,71,714,0.00,2.62,0.00,0.000,4,0.000,0.137,2590,3890,3751
$GC,730,-0.74,-146.0,192.7,-21.1,72,739,0.00,2.12,0.00,0.000,6,0.000,0.031,2596,2485,3752
$GC,982,-0.74,-146.0,240.7,-19.5,82,986,0.00,2.72,0.00,0.000,4,0.000,0.146,2587,3884,3753
$GC,1035,-0.74,-146.0,250.7,-17.7,83,1040,0.00,2.10,0.00,0.000,6,0.000,0.031,2595,2497,3753
$GC,1308,-0.74,-146.0,300.6,-18.2,90,1312,0.00,2.12,0.00,0.000,4,0.000,0.033,2605,1067,3753
$GC,1368,-0.74,-146.0,309.6,-12.0,91,1373,0.00,2.50,0.00,0.000,6,0.000,0.106,2596,2470,3754
$GC,1640,-0.74,-146.0,353.8,-17.0,98,1645,0.00,2.60,0.00,0.000,4,0.000,0.126,2584,3897,3753
$GC,1734,-0.74,-146.0,368.5,-13.7,100,1739,0.00,2.12,0.00,0.000,6,0.000,0.032,2593,2490,3753
$GC,2012,-0.74,-146.0,410.1,-14.9,107,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2484,3753
$GC,2256,-0.74,-146.0,443.6,-13.7,113,2260,0.00,2.70,0.00,0.000,4,0.000,0.144,2589,3901,3751
$GC,2298,-0.74,-146.0,449.3,-12.8,114,2303,0.00,2.15,0.00,0.000,6,0.000,0.034,2595,2480,3751
$GC,2583,-0.74,-146.0,482.8,-11.8,121,2588,0.00,2.70,0.00,0.000,4,0.000,0.143,2589,3894,3749
$GC,2667,-0.74,-146.0,491.8,-9.0,123,2671,0.00,2.10,0.00,0.000,6,0.000,0.035,2596,2484,3748
$GC,2955,-0.74,-146.0,522.2,-10.4,130,2959,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3897,3746
$GC,3005,-0.74,-146.0,527.5,-10.1,131,3009,0.00,2.10,0.00,0.000,6,0.000,0.035,2596,2488,3745
$GC,3282,-0.74,-146.0,556.4,-10.6,138,3286,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3903,3744
$GC,3336,-0.74,-146.0,562.6,-10.2,139,3341,0.00,2.15,0.00,0.000,6,0.000,0.035,2596,2484,3742
$GC,3610,-0.74,-146.0,593.4,-11.7,146,3614,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3897,3741
$GC,3652,-0.74,-146.0,598.5,-10.9,147,3657,0.00,2.12,0.00,0.000,6,0.000,0.036,2596,2493,3740
$GC,3936,-0.74,-146.0,629.5,-10.9,154,3940,0.00,2.70,0.00,0.000,4,0.000,0.145,2590,3898,3738
$GC,3985,-0.74,-146.0,634.7,-9.1,155,3990,0.00,2.15,0.00,0.000,6,0.000,0.036,2597,2486,3737
$GC,4263,-0.74,-146.0,662.6,-10.1,162,4267,0.00,2.70,0.00,0.000,4,0.000,0.143,2590,3896,3735
$GC,4328,-0.74,-146.0,668.8,-7.9,163,4333,0.00,2.12,0.00,0.000,6,0.000,0.036,2597,2494,3735
$GC,4589,-0.74,-146.0,693.6,-9.6,170,4594,0.00,2.67,0.00,0.000,4,0.000,0.142,2590,3897,3734
$GC,4644,-0.74,-146.0,699.1,-9.2,171,4648,0.00,2.17,0.00,0.000,6,0.000,0.038,2597,2485,3733
$GC,4916,-0.74,-146.0,726.3,-10.3,178,4920,0.00,2.67,0.00,0.000,4,0.000,0.144,2589,3897,3732
$GC,4982,-0.74,-146.0,733.2,-9.5,179,4987,0.00,2.15,0.00,0.000,6,0.000,0.038,2597,2483,3731
$GC,5244,-0.74,-146.0,759.2,-10.0,186,5248,0.00,2.70,0.00,0.000,4,0.000,0.140,2590,3901,3730
$GC,5309,-0.74,-146.0,765.5,-8.6,187,5314,0.00,2.15,0.00,0.000,6,0.000,0.038,2597,2488,3729
$GC,5569,-0.74,-146.0,788.5,-8.8,194,5574,0.00,2.67,0.00,0.000,4,0.000,0.140,2590,3900,3728
$GC,5624,-0.74,-146.0,793.2,-8.5,195,5629,0.00,2.15,0.00,0.000,6,0.000,0.038,2597,2491,3727
$GC,5896,-0.74,-146.0,816.2,-8.5,202,5901,0.00,2.65,0.00,0.000,4,0.000,0.137,2590,3897,3726
$GC,5951,-0.74,-146.0,820.8,-8.2,203,5955,0.00,2.17,0.00,0.000,6,0.000,0.038,2597,2486,3726
$GC,6223,-0.74,-146.0,843.1,-8.2,210,6227,0.00,2.70,0.00,0.000,4,0.000,0.141,2590,3902,3724
$GC,6289,-0.74,-146.0,848.4,-7.3,211,6294,0.00,2.15,0.00,0.000,6,0.000,0.039,2596,2495,3724
$GC,6550,-0.74,-146.0,869.0,-8.0,218,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2490,3723
$GC,6794,-0.74,-146.0,888.5,-8.1,224,6798,0.00,2.65,0.00,0.000,4,0.000,0.139,2590,3897,3722
$GC,6878,-0.74,-146.0,894.9,-7.1,226,6882,0.00,2.12,0.00,0.000,6,0.000,0.038,2596,2487,3721
$GC,7168,-0.74,-146.0,918.3,-8.0,233,7172,0.00,2.67,0.00,0.000,4,0.000,0.140,2590,3897,3720
$GC,7227,-0.74,-146.0,923.6,-8.4,234,7232,0.00,2.15,0.00,0.000,6,0.000,0.038,2597,2489,3720
$GC,7495,-0.74,-146.0,944.5,-8.1,241,7499,0.00,2.67,0.00,0.000,4,0.000,0.140,2590,3896,3719
$GC,7548,-0.74,-146.0,949.1,-8.3,242,7553,0.00,2.15,0.00,0.000,6,0.000,0.038,2596,2488,3719
$STATE,7563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7563,begin apogee
$GC,7567,-0.32,0.0,950.4,7.7,242,7691,0.45,0.00,121.55,1.335,6,0.166,0.000,2735,2481,3150
$STATE,7692,end apogee,CONTROL_FINISHED_OK
$STATE,7692,begin climb
$GC,7693,0.74,146.0,953.8,0.0,245,7842,1.02,2.62,135.23,1.295,4,0.075,0.097,3083,3872,2553
$GC,8060,0.74,146.0,914.0,21.5,254,8065,0.00,2.28,0.00,0.000,6,0.000,0.040,3092,2451,2544
$GC,8334,0.74,146.0,859.3,19.8,261,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2445,2541
$GC,8576,0.74,146.0,812.0,19.3,267,8580,0.00,2.17,0.00,0.000,4,0.000,0.040,3104,1031,2540
$GC,8614,0.74,146.0,804.8,19.0,267,8621,0.00,2.42,0.00,0.000,6,0.000,0.079,3097,2448,2539
$GC,8864,0.74,146.0,756.7,19.4,274,8868,0.00,2.42,0.00,0.000,4,0.000,0.092,3097,3865,2538
$GC,8873,0.74,146.0,754.6,19.6,274,8878,0.00,2.20,0.00,0.000,6,0.000,0.040,3106,2449,2537
$GC,9147,0.74,146.0,702.2,19.3,281,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2444,2536
$GC,9389,0.74,146.0,658.9,17.4,287,9393,0.00,2.12,0.00,0.000,4,0.000,0.038,3117,1042,2536
$GC,9433,0.74,146.0,651.9,16.6,288,9437,0.00,2.35,0.00,0.000,6,0.000,0.080,3117,2451,2536
$GC,9722,0.74,146.0,606.4,15.5,295,9726,0.00,2.42,0.00,0.000,4,0.000,0.095,3117,3864,2535
$GC,9978,0.74,146.0,566.4,15.4,300,9984,0.15,2.17,0.00,0.000,6,0.266,0.039,3095,2461,2535
$GC,10234,0.74,146.0,533.9,12.5,307,10238,0.00,2.40,0.00,0.000,4,0.000,0.091,3095,3871,2534
$GC,10272,0.74,146.0,528.5,14.4,308,10276,0.00,2.17,0.00,0.000,6,0.000,0.040,3103,2445,2534
$GC,10560,0.74,146.0,490.5,13.2,315,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2440,2533
$GC,10805,0.74,146.0,459.1,12.6,321,10809,0.00,2.42,0.00,0.000,4,0.000,0.090,3104,3874,2533
$GC,10825,0.74,146.0,456.6,11.7,321,10830,0.00,2.20,0.00,0.000,6,0.000,0.038,3115,2445,2533
$GC,11086,0.74,146.0,427.1,11.3,328,11090,0.00,2.42,0.00,0.000,4,0.000,0.087,3110,3874,2532
$GC,11118,0.74,146.0,423.0,12.6,328,11126,0.10,2.20,0.00,0.000,6,0.269,0.040,3098,2446,2533
$GC,11368,0.74,146.0,396.8,10.4,335,11372,0.00,2.40,0.00,0.000,4,0.000,0.090,3097,3864,2533
$GC,11407,0.74,146.0,392.4,11.5,336,11411,0.00,2.15,0.00,0.000,6,0.000,0.041,3106,2446,2533
$GC,11697,0.74,146.0,364.6,9.1,343,11701,0.00,2.40,0.00,0.000,4,0.000,0.085,3106,3867,2532
$GC,11953,0.74,147.5,341.1,8.0,348,11960,0.00,2.17,0.00,0.000,6,0.000,0.038,3117,2445,2532
$GC,12203,0.80,189.3,324.8,6.5,355,12246,0.00,2.45,34.10,0.917,4,0.000,0.084,3111,3862,2377
$GC,12497,0.80,189.3,277.8,15.2,361,12502,0.00,2.20,0.00,0.000,6,0.000,0.039,3120,2453,2372
$GC,12758,0.80,189.3,242.5,12.5,368,12762,0.00,2.15,0.00,0.000,4,0.000,0.037,3131,1032,2370
$GC,13015,0.80,189.3,206.9,11.4,373,13020,0.00,2.38,0.00,0.000,6,0.000,0.074,3131,2449,2369
$GC,13279,0.80,189.3,172.2,13.8,392,13282,0.00,2.12,0.00,0.000,4,0.000,0.035,3142,1029,2369
$GC,13537,0.80,189.3,143.6,10.1,415,13542,0.12,2.35,0.00,0.000,6,0.236,0.068,3112,2456,2369
$GC,13800,0.81,203.0,119.7,7.5,439,13816,0.00,2.35,11.77,0.692,4,0.000,0.081,3111,3865,2321
$GC,14020,0.95,315.4,97.0,3.8,458,14118,0.08,2.17,92.45,0.732,6,0.088,0.037,3151,2431,1863
$GC,14375,0.95,315.4,24.4,26.3,492,14383,0.00,2.50,0.00,0.000,4,0.000,0.084,3150,3867,1855
$STATE,14452,end climb,SURFACE_DEPTH_REACHED
$STATE,14453,begin surface coast
$FINISH,-0.0,1.022079
$STATE,14465,end surface coast,CONTROL_FINISHED_OK
$STATE,14465,begin surface
$SM_CCo,14483,47.38,0.604,0,0,1436,420.19
$SM_GC,0.88,0.00,0.00,47.38,0.000,0.000,0.604,48,2466,1436,-8.76,-0.71,420.19
$IRIDIUM_FIX,2223.01,-15810.18,170300,101012
$TT8_MAMPS,0.024544
$HUMID,1710
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.7,14.746
$10V_AH,10.6,8.017
$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,22.600,169.900,395.100,47.375,0.000,24.680,31.893,127.540,0.250,0.000,0.000,31.182,1170.677,10647.365,543.267,2144.890,315.214,33.357,1538.015,0.000,2100.767,0.000,0.542,0.000
$DEVICE_MAMPS,270.751,145.730,1334.580,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,345.090,604.904,621.245,109.444,455.333,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41483,508
$CAP_FILE_SIZE,119366,0
$CFSIZE,260165632,256221184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,221210,182207,2232.427,-15809.471,40,1.1,40,10.0