version: 66.04
glider: 512
mission: 1
dive: 73
start: 12 23 110 21 44 1
data:
$ID,512
$MISSION,1
$DIVE,73
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,840
$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,166
$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,-6786.3496
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2500
$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,48
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3247
$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
$GPS1,213719,2232.425,-15809.512,10,1.8,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.8
$GPS2,214307,2232.406,-15809.531,14,1.8,14,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.259,-0.020
$KALMAN_X,-74257.5,823.0,325.8,75649.5,-4346.4
$KALMAN_Y,-78269.8,644.1,-197.5,174386.0,-2304.0
$MHEAD_RNG_PITCHd_Wd,84.5,28443,-17.6,-10.040
$D_GRID,500
$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,15,-0.88,-146.0,0.0,0.0,0,95,0.00,0.00,-78.03,0.000,2,0.000,0.000,48,2498,3186
$GC,97,-0.88,-146.0,3.6,-6.5,10,130,9.75,2.12,-12.15,0.000,4,0.271,0.042,2212,1071,3846
$GC,317,-0.88,-146.0,134.7,-57.2,33,321,0.00,2.40,0.00,0.000,6,0.000,0.091,2202,2479,3847
$GC,590,-0.88,-146.0,301.9,-58.9,47,595,0.00,2.38,0.00,0.000,4,0.000,0.084,2191,3922,3847
$GC,847,-0.88,-146.0,444.4,-49.5,52,854,0.00,2.12,0.00,0.000,6,0.000,0.028,2198,2487,3848
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,979,-0.32,0.0,509.7,51.6,56,1099,0.82,0.00,116.93,0.962,6,0.262,0.000,2385,2480,3246
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1101,0.88,146.0,555.1,0.0,59,1229,1.67,2.25,119.72,0.955,4,0.249,0.031,2770,1040,2651
$GC,1481,1.06,289.4,557.7,3.4,67,1607,0.22,2.40,117.80,0.927,6,0.117,0.080,2842,2467,2067
$GC,1856,1.15,365.8,535.3,6.5,77,1926,0.00,2.47,62.78,0.920,4,0.000,0.085,2835,3857,1754
$GC,2178,1.15,365.8,503.4,10.5,84,2183,0.00,2.15,0.00,0.000,6,0.000,0.036,2844,2460,1749
$GC,2452,1.16,373.5,477.4,9.7,91,2460,0.00,0.00,6.28,0.742,6,0.000,0.000,2844,2455,1724
$GC,2694,1.16,373.5,452.6,10.2,97,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2455,1722
$GC,2938,1.16,373.5,427.9,10.2,103,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2455,1720
$GC,3181,1.16,373.5,403.0,10.3,109,3185,0.00,2.12,0.00,0.000,4,0.000,0.037,2844,1034,1718
$GC,3264,1.18,387.7,394.8,9.4,110,3282,0.05,2.35,12.80,0.845,6,0.136,0.073,2866,2441,1666
$GC,3561,1.21,415.9,368.6,8.7,118,3591,0.00,2.17,24.20,0.864,4,0.000,0.038,2869,1041,1550
$GC,3843,1.21,415.9,338.9,11.6,124,3848,0.00,2.38,0.00,0.000,6,0.000,0.081,2862,2441,1547
$GC,4118,1.21,415.9,308.9,11.2,131,4121,0.00,2.12,0.00,0.000,4,0.000,0.038,2869,1042,1545
$GC,4374,1.24,433.6,283.3,9.2,136,4395,0.00,2.35,15.00,0.797,6,0.000,0.074,2862,2457,1479
$GC,4674,1.24,433.6,253.0,10.6,144,4679,0.12,2.15,0.00,0.000,4,0.143,0.035,2902,1037,1476
$GC,4886,1.25,440.8,230.8,9.7,148,4898,0.00,2.38,7.50,0.690,6,0.000,0.074,2902,2455,1449
$GC,5177,1.29,478.1,205.9,8.3,156,5218,0.00,2.22,31.60,0.752,4,0.000,0.034,2902,1025,1296
$GC,5399,1.29,478.1,183.0,10.7,170,5407,0.00,2.38,0.00,0.000,6,0.000,0.071,2902,2452,1292
$GC,5661,1.29,478.1,153.7,11.6,195,5665,0.00,2.12,0.00,0.000,4,0.000,0.033,2902,1035,1292
$GC,5916,1.29,478.1,125.3,10.3,218,5920,0.00,2.30,0.00,0.000,6,0.000,0.070,2902,2456,1291
$GC,6176,1.29,478.1,98.1,10.7,242,6180,0.00,2.35,0.00,0.000,4,0.000,0.087,2902,3864,1291
$GC,6241,1.29,478.1,90.8,11.0,247,6249,0.00,2.15,0.00,0.000,6,0.000,0.035,2902,2431,1291
$GC,6504,1.29,478.2,62.5,10.0,272,6508,0.00,2.03,0.00,0.000,4,0.000,0.033,2902,1053,1291
$GC,6551,1.31,496.6,58.1,9.2,276,6578,0.00,2.22,15.57,0.593,6,0.000,0.064,2902,2449,1221
$GC,6834,1.31,496.6,30.8,10.4,302,6838,0.00,2.33,0.00,0.000,4,0.000,0.081,2902,3861,1220
$GC,7078,1.31,496.6,4.4,10.5,347,7086,0.00,2.10,0.00,0.000,6,0.000,0.032,2902,2456,1220
$STATE,7092,end climb,SURFACE_DEPTH_REACHED
$STATE,7092,begin surface coast
$FINISH,0.1,1.023196
$STATE,7120,end surface coast,CONTROL_FINISHED_OK
$STATE,7120,begin surface
$SM_CCo,7195,0.00,0.000,0,0,1218,497.46
$SM_GC,1.13,7.68,0.00,0.00,0.061,0.000,0.000,52,2494,1218,-7.60,0.11,497.46
$IRIDIUM_FIX,2225.34,-15810.18,180300,191947
$TT8_MAMPS,0.023777
$HUMID,1833
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,24.6,16.688
$10V_AH,10.7,8.788
$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,20.325,58.600,530.175,0.000,0.000,30.560,41.425,173.273,0.000,0.000,0.000,14.273,759.349,4280.368,523.617,1633.204,340.557,33.357,1218.938,0.000,1621.703,0.000,0.544,0.000
$DEVICE_MAMPS,270.751,90.506,961.818,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,237.962,589.155,607.506,144.833,601.277,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28821,354
$CAP_FILE_SIZE,67799,0
$CFSIZE,260165632,255954944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,231210,234507,2232.341,-15810.009,40,1.2,40,10.0