version: 66.04
glider: 512
mission: 1
dive: 1006
start: 3 19 111 13 47 56
data:
$ID,512
$MISSION,1
$DIVE,1006
$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,200
$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,618.39124
$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,-27735.504
$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,52
$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
$GPS1,130522,2252.509,-15759.056,15,9.3,35,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.5
$GPS2,134704,2252.093,-15759.541,40,1.4,44,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,-0.256
$KALMAN_X,-410920.6,256.5,59.5,430362.4,-3632.8
$KALMAN_Y,-663852.4,383.9,-370.5,796865.7,-419.6
$MHEAD_RNG_PITCHd_Wd,179.5,125893,-17.5,-10.000
$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,18,-0.88,-146.0,0.0,0.0,0,126,0.00,0.00,-105.78,0.000,2,0.000,0.000,30,2677,3276
$GC,132,-0.88,-146.0,3.8,-3.9,14,157,10.93,2.22,-4.32,0.000,4,0.228,0.038,2596,1211,3518
$GC,312,-0.88,-146.0,49.7,-16.2,35,316,0.00,2.28,0.00,0.000,6,0.000,0.054,2587,2609,3519
$GC,582,-0.88,-146.0,110.8,-22.5,60,586,0.00,2.12,0.00,0.000,4,0.000,0.064,2577,3895,3519
$GC,701,-0.88,-146.0,133.1,-16.1,70,709,0.00,1.88,0.00,0.000,6,0.000,0.022,2577,2631,3519
$GC,965,-0.88,-146.0,182.6,-18.5,95,969,0.00,2.05,0.00,0.000,4,0.000,0.025,2577,1222,3519
$GC,1027,-0.88,-146.0,191.5,-12.9,100,1031,0.00,2.40,0.00,0.000,6,0.000,0.067,2576,2636,3519
$GC,1292,-0.88,-146.0,234.1,-16.2,110,1296,0.00,2.12,0.00,0.000,4,0.000,0.069,2566,3907,3519
$GC,1344,-0.88,-146.0,242.6,-15.2,111,1349,0.12,1.88,0.00,0.000,6,0.153,0.023,2597,2626,3519
$GC,1632,-0.88,-146.0,280.6,-13.2,118,1636,0.00,2.05,0.00,0.000,4,0.000,0.027,2607,1232,3519
$GC,1675,-0.88,-146.0,285.9,-10.6,118,1682,0.00,2.33,0.00,0.000,6,0.000,0.059,2599,2649,3519
$GC,1928,-0.88,-146.0,316.3,-12.3,125,1932,0.00,2.08,0.00,0.000,4,0.000,0.069,2589,3893,3517
$GC,2020,-0.88,-146.0,326.8,-10.2,127,2024,0.00,1.88,0.00,0.000,6,0.000,0.024,2589,2641,3517
$GC,2312,-0.88,-146.0,360.0,-11.3,134,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2633,3515
$GC,2555,-0.88,-146.0,387.7,-11.4,140,2559,0.00,2.15,0.00,0.000,4,0.000,0.070,2579,3901,3513
$GC,2612,-0.88,-146.0,394.4,-11.1,141,2616,0.00,1.88,0.00,0.000,6,0.000,0.025,2579,2634,3512
$GC,2894,-0.88,-146.0,427.6,-12.1,148,2897,0.00,2.15,0.00,0.000,4,0.000,0.068,2569,3891,3510
$GC,2969,-0.88,-146.0,437.5,-12.1,149,2973,0.00,1.85,0.00,0.000,6,0.000,0.025,2569,2640,3508
$GC,3234,-0.88,-146.0,471.9,-13.1,156,3239,0.00,2.25,-0.08,0.000,4,0.000,0.083,2559,3895,3532
$GC,3280,-0.88,-146.0,478.5,-13.3,157,3284,0.15,1.88,0.00,0.000,6,0.147,0.025,2597,2632,3531
$GC,3568,-0.88,-146.0,506.3,-9.6,164,3572,0.00,2.17,0.00,0.000,4,0.000,0.071,2590,3887,3529
$GC,3621,-0.88,-146.0,511.7,-9.2,165,3625,0.00,1.88,0.00,0.000,6,0.000,0.025,2591,2632,3528
$GC,3909,-0.88,-146.0,538.9,-9.5,172,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2624,3526
$GC,4152,-0.88,-146.0,562.2,-9.6,178,4156,0.00,2.17,0.00,0.000,4,0.000,0.070,2583,3900,3523
$GC,4193,-0.88,-146.0,566.5,-9.6,178,4199,0.00,1.90,0.00,0.000,6,0.000,0.026,2583,2630,3523
$GC,4446,-0.88,-146.0,590.3,-9.4,185,4449,0.00,2.20,0.00,0.000,4,0.000,0.074,2576,3890,3521
$GC,4504,-0.88,-146.0,596.0,-9.3,186,4508,0.00,1.88,0.00,0.000,6,0.000,0.027,2576,2637,3521
$STATE,4577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4577,begin apogee
$GC,4589,-0.32,0.0,603.4,9.5,188,4718,0.65,0.00,125.68,1.060,6,0.125,0.000,2771,2465,2920
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4724,0.88,146.0,608.1,0.0,191,4861,1.05,2.42,129.65,1.036,4,0.041,0.062,3177,3874,2323
$GC,4982,0.88,146.0,567.6,29.1,197,4986,0.00,2.17,0.00,0.000,6,0.000,0.028,3187,2462,2316
$GC,5273,0.88,146.0,491.7,25.1,204,5277,0.00,2.15,0.00,0.000,4,0.000,0.031,3198,1032,2311
$GC,5394,0.88,146.0,462.4,22.5,206,5398,0.00,2.30,0.00,0.000,6,0.000,0.048,3192,2453,2309
$GC,5651,0.88,146.0,400.8,24.2,213,5655,0.00,2.38,0.00,0.000,4,0.000,0.061,3192,3882,2308
$GC,5664,0.88,146.0,397.6,23.7,213,5669,0.17,2.20,0.00,0.000,6,0.259,0.028,3169,2428,2307
$GC,5933,0.88,146.0,338.4,21.7,220,5937,0.00,2.05,0.00,0.000,4,0.000,0.029,3178,1054,2305
$GC,5982,0.88,146.0,329.0,20.0,221,5987,0.00,2.30,0.00,0.000,6,0.000,0.049,3176,2472,2305
$GC,6274,0.88,146.0,275.7,17.7,228,6278,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1053,2304
$GC,6428,0.88,146.0,250.8,15.5,231,6432,0.00,2.28,0.00,0.000,6,0.000,0.044,3176,2469,2303
$GC,6697,0.88,146.0,205.8,16.6,238,6701,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1052,2301
$GC,6716,0.88,146.0,202.8,15.8,238,6720,0.00,2.25,0.00,0.000,6,0.000,0.042,3176,2468,2302
$GC,6982,0.88,146.0,164.1,14.9,261,6986,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1045,2301
$GC,7179,0.88,146.0,138.7,13.1,278,7183,0.00,2.25,0.00,0.000,6,0.000,0.044,3177,2453,2301
$GC,7451,0.88,146.0,105.0,12.6,303,7455,0.00,2.10,0.00,0.000,4,0.000,0.027,3186,1044,2301
$GC,7502,0.88,146.3,99.7,10.0,307,7506,0.00,2.28,0.00,0.000,6,0.000,0.041,3177,2476,2301
$GC,7769,0.89,150.3,72.4,9.8,331,7772,0.00,2.12,0.00,0.000,4,0.000,0.027,3186,1048,2301
$GC,8027,0.92,179.7,51.4,8.6,354,8057,0.00,2.22,25.77,0.624,6,0.000,0.040,3177,2460,2187
$STATE,8317,end climb,SURFACE_DEPTH_REACHED
$STATE,8317,begin surface coast
$FINISH,0.5,1.023818
$STATE,8335,end surface coast,CONTROL_FINISHED_OK
$STATE,8335,begin surface
$SM_CCo,8362,221.23,0.587,0,0,399,618.39
$SM_GC,1.16,0.00,0.00,221.23,0.000,0.000,0.587,42,2660,399,-8.86,0.57,618.39
$IRIDIUM_FIX,2246.36,-15758.45,120600,131359
$TT8_MAMPS,0.024544
$HUMID,1882
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.7,131.780
$10V_AH,10.6,79.259
$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,21.650,90.000,281.100,221.225,0.000,136.727,182.162,1711.115,0.250,0.000,0.000,44.431,843.582,5602.213,570.486,1609.577,2460.375,33.374,1222.844,0.000,1568.231,0.000,0.544,0.000
$DEVICE_MAMPS,259.246,82.836,1059.994,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.673,649.869,666.934,153.790,629.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31945,396
$CAP_FILE_SIZE,85436,0
$CFSIZE,260165632,221339648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,190311,161236,2251.338,-15800.199,41,1.8,47,10.1