version: 66.04
glider: 512
mission: 1
dive: 1004
start: 3 19 111 7 39 23
data:
$ID,512
$MISSION,1
$DIVE,1004
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$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,208
$T_MISSION,400
$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,400
$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,-27672.885
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2880
$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,2640
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2920
$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
$GPS1,072725,2254.523,-15758.439,39,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.2
$GPS2,073831,2254.542,-15758.520,16,1.4,16,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.044,-0.252
$KALMAN_X,-407508.8,522.4,371.0,428121.2,-4193.7
$KALMAN_Y,-664116.8,21.8,697.5,800940.3,-1700.0
$MHEAD_RNG_PITCHd_Wd,179.7,130687,-16.9,-9.615
$D_GRID,600
$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,17,-0.85,-146.0,0.0,0.0,0,80,0.00,0.00,-60.45,0.000,2,0.000,0.000,36,2701,2864
$GC,86,-0.85,-146.0,3.2,-4.8,8,119,11.07,2.28,-13.27,0.000,4,0.234,0.037,2594,1219,3519
$GC,256,-0.85,-146.0,39.6,-19.1,32,260,0.00,2.38,0.00,0.000,6,0.000,0.061,2585,2647,3520
$GC,528,-0.85,-146.0,105.5,-25.2,57,532,0.00,2.08,0.00,0.000,4,0.000,0.064,2575,3895,3520
$GC,569,-0.85,-146.0,116.3,-23.5,60,577,0.00,1.90,0.00,0.000,6,0.000,0.023,2575,2625,3520
$GC,834,-0.85,-146.0,174.0,-20.2,85,838,0.00,2.12,0.00,0.000,4,0.000,0.063,2565,3897,3521
$GC,853,-0.85,-146.0,178.4,-19.8,86,860,0.10,1.88,0.00,0.000,6,0.159,0.022,2594,2622,3521
$GC,1111,-0.85,-146.0,220.9,-16.2,102,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2615,3521
$GC,1354,-0.85,-146.0,257.5,-14.6,108,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2615,3522
$GC,1600,-0.85,-146.0,290.8,-13.6,114,1603,0.00,2.00,0.00,0.000,4,0.000,0.025,2598,1253,3522
$GC,1652,-0.85,-146.0,297.6,-10.8,115,1656,0.00,2.30,0.00,0.000,6,0.000,0.059,2590,2638,3522
$GC,1934,-0.85,-146.0,332.6,-12.4,122,1938,0.00,2.12,0.00,0.000,4,0.000,0.067,2580,3908,3521
$GC,2015,-0.85,-146.0,342.4,-10.6,123,2019,0.00,1.85,0.00,0.000,6,0.000,0.024,2580,2645,3521
$GC,2273,-0.85,-146.0,373.6,-12.4,130,2276,0.00,2.17,0.00,0.000,4,0.000,0.072,2570,3897,3520
$GC,2292,-0.85,-146.0,376.2,-12.8,130,2296,0.12,1.85,0.00,0.000,6,0.150,0.024,2601,2641,3520
$GC,2566,-0.85,-146.0,405.2,-10.7,137,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2634,3519
$GC,2810,-0.85,-146.0,430.7,-10.4,143,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2633,3517
$GC,3055,-0.85,-146.0,455.5,-10.1,149,3059,0.00,2.20,0.00,0.000,4,0.000,0.072,2593,3905,3515
$GC,3097,-0.85,-146.0,460.0,-9.9,149,3104,0.00,1.88,0.00,0.000,6,0.000,0.026,2600,2649,3514
$GC,3351,-0.85,-146.0,483.8,-9.4,156,3355,0.00,2.12,0.00,0.000,4,0.000,0.031,2611,1238,3512
$GC,3387,-0.85,-146.0,487.2,-8.1,156,3392,0.00,2.38,0.00,0.000,6,0.000,0.063,2602,2650,3512
$GC,3642,-0.85,-146.0,508.8,-8.7,162,3645,0.00,2.12,0.00,0.000,4,0.000,0.073,2592,3897,3510
$GC,3718,-0.85,-146.0,515.7,-8.6,163,3721,0.00,1.88,0.00,0.000,6,0.000,0.026,2600,2640,3509
$GC,3981,-0.85,-146.0,538.7,-8.8,170,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2633,3508
$GC,4226,-0.85,-146.0,560.4,-8.9,176,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2633,3506
$GC,4469,-0.85,-146.0,581.3,-8.5,182,4473,0.00,2.22,0.00,0.000,4,0.000,0.077,2592,3896,3504
$GC,4500,-0.85,-146.0,584.2,-9.1,182,4503,0.00,1.90,0.00,0.000,6,0.000,0.028,2599,2638,3503
$STATE,4719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4719,begin apogee
$GC,4731,-0.32,0.0,601.7,7.8,188,4856,0.55,0.00,122.38,1.072,6,0.111,0.000,2774,2467,2920
$STATE,4857,end apogee,CONTROL_FINISHED_OK
$STATE,4857,begin climb
$GC,4862,0.85,146.0,606.1,0.0,191,5009,1.02,2.47,131.98,1.031,4,0.041,0.058,3167,3876,2322
$GC,5022,0.85,146.0,597.2,23.2,194,5026,0.00,2.22,0.00,0.000,6,0.000,0.029,3176,2466,2321
$GC,5274,0.85,146.0,528.1,27.8,200,5278,0.00,2.17,0.00,0.000,4,0.000,0.035,3187,1042,2312
$GC,5316,0.85,146.0,517.5,24.7,200,5324,0.10,2.35,0.00,0.000,6,0.207,0.053,3163,2458,2311
$GC,5568,0.85,146.0,459.9,22.6,207,5572,0.00,2.17,0.00,0.000,4,0.000,0.035,3173,1037,2309
$GC,5661,0.85,146.0,440.0,20.9,209,5666,0.00,2.33,0.00,0.000,6,0.000,0.048,3172,2475,2308
$GC,5949,0.85,146.0,375.6,22.9,216,5953,0.00,2.20,0.00,0.000,4,0.000,0.031,3181,1036,2307
$GC,6052,0.85,146.0,351.7,22.9,218,6056,0.00,2.30,0.00,0.000,6,0.000,0.047,3176,2457,2307
$GC,6326,0.85,146.0,294.2,20.4,225,6330,0.00,2.33,0.00,0.000,4,0.000,0.054,3176,3872,2305
$GC,6385,0.85,146.0,282.9,19.4,226,6389,0.00,2.17,0.00,0.000,6,0.000,0.028,3184,2457,2304
$GC,6661,0.85,146.0,239.6,15.0,233,6665,0.00,2.12,0.00,0.000,4,0.000,0.029,3195,1037,2303
$GC,6922,0.85,146.0,200.6,15.0,238,6927,0.15,2.30,0.00,0.000,6,0.203,0.045,3160,2471,2303
$GC,7196,0.85,146.0,161.0,15.0,263,7200,0.00,2.15,0.00,0.000,4,0.000,0.027,3169,1035,2301
$GC,7225,0.85,146.0,155.9,14.5,265,7232,0.00,2.33,0.00,0.000,6,0.000,0.044,3163,2458,2301
$GC,7490,0.85,146.0,126.6,10.9,290,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2458,2301
$GC,7756,0.88,167.3,100.5,8.7,315,7781,0.00,2.35,15.77,0.660,4,0.000,0.054,3163,3873,2237
$GC,7800,0.88,167.3,95.8,11.8,318,7808,0.00,2.17,0.00,0.000,6,0.000,0.025,3172,2444,2237
$GC,8066,0.88,167.3,59.5,14.8,343,8070,0.00,2.08,0.00,0.000,4,0.000,0.027,3182,1047,2235
$GC,8300,0.88,167.3,28.2,14.9,365,8309,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2463,2234
$STATE,8462,end climb,SURFACE_DEPTH_REACHED
$STATE,8467,begin surface coast
$FINISH,0.3,1.023888
$STATE,8489,end surface coast,CONTROL_FINISHED_OK
$STATE,8489,begin surface
$SM_CCo,8516,118.35,0.600,0,0,1287,400.08
$SM_GC,1.20,0.00,0.00,118.35,0.000,0.000,0.600,41,2690,1287,-8.86,1.41,400.08
$IRIDIUM_FIX,2246.36,-15800.62,120600,050546
$TT8_MAMPS,0.023777
$HUMID,1895
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,131.310
$10V_AH,10.6,79.030
$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,21.875,82.625,270.125,118.350,0.000,23.170,39.835,429.778,0.250,0.000,0.000,16.183,824.566,5658.326,459.481,1463.766,895.883,33.371,1056.818,0.000,1455.468,0.000,0.543,0.000
$DEVICE_MAMPS,233.935,76.700,1072.266,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,269.632,644.571,662.652,149.747,621.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32126,399
$CAP_FILE_SIZE,74440,0
$CFSIZE,260165632,221470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,190311,100437,2253.606,-15759.036,28,1.5,29,10.1