version: 66.04
glider: 512
mission: 1
dive: 1007
start: 3 19 111 16 55 25
data:
$ID,512
$MISSION,1
$DIVE,1007
$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,-27752.861
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,161236,2251.338,-15800.199,41,1.8,47,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.3
$GPS2,165432,2251.298,-15800.824,16,1.2,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.139,-0.219
$KALMAN_X,-412217.9,237.8,-259.1,429775.1,-2001.9
$KALMAN_Y,-662661.1,632.9,-158.2,793720.3,812.4
$MHEAD_RNG_PITCHd_Wd,137.5,124036,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.88,-146.0,0.0,0.0,0,112,0.00,0.00,-90.70,0.000,2,0.000,0.000,37,2669,2808
$GC,118,-0.88,-146.0,3.2,-5.6,12,151,10.73,2.15,-15.20,0.000,4,0.223,0.036,2585,1219,3517
$GC,225,-0.88,-146.0,26.4,-15.1,29,234,0.00,2.33,0.00,0.000,6,0.000,0.054,2576,2615,3518
$GC,494,-0.88,-146.0,94.6,-24.5,55,498,0.00,2.10,0.00,0.000,4,0.000,0.058,2566,3909,3518
$GC,557,-0.88,-146.0,111.0,-22.0,60,566,0.08,1.90,0.00,0.000,6,0.168,0.021,2587,2620,3518
$GC,824,-0.88,-146.0,161.0,-18.3,85,827,0.00,2.00,0.00,0.000,4,0.000,0.024,2587,1241,3518
$GC,883,-0.88,-146.0,171.5,-14.1,90,887,0.00,2.33,0.00,0.000,6,0.000,0.056,2578,2653,3518
$GC,1174,-0.88,-146.0,223.7,-18.0,108,1177,0.00,2.05,0.00,0.000,4,0.000,0.062,2568,3905,3518
$GC,1215,-0.88,-146.0,230.8,-16.1,108,1221,0.00,1.83,0.00,0.000,6,0.000,0.022,2568,2643,3518
$GC,1467,-0.88,-146.0,272.6,-16.5,115,1471,0.00,2.10,0.00,0.000,4,0.000,0.061,2558,3906,3517
$GC,1486,-0.88,-146.0,275.7,-14.8,115,1490,0.08,1.88,0.00,0.000,6,0.157,0.022,2593,2621,3518
$GC,1761,-0.88,-146.0,309.5,-12.3,122,1764,0.00,2.15,0.00,0.000,4,0.000,0.063,2584,3905,3516
$GC,1802,-0.88,-146.0,315.1,-12.7,122,1808,0.00,1.83,0.00,0.000,6,0.000,0.022,2584,2649,3516
$GC,2054,-0.88,-146.0,347.1,-12.9,129,2058,0.00,2.05,0.00,0.000,4,0.000,0.025,2584,1241,3515
$GC,2107,-0.88,-146.0,353.2,-10.0,130,2111,0.00,2.33,0.00,0.000,6,0.000,0.057,2576,2650,3515
$GC,2388,-0.88,-146.0,387.2,-12.5,137,2391,0.00,2.08,0.00,0.000,4,0.000,0.066,2566,3902,3513
$GC,2502,-0.88,-146.0,402.3,-12.4,139,2506,0.12,1.85,0.00,0.000,6,0.146,0.023,2598,2625,3512
$GC,2772,-0.88,-146.0,430.3,-10.1,146,2776,0.00,2.15,0.00,0.000,4,0.000,0.064,2590,3904,3509
$GC,2830,-0.88,-146.0,436.0,-8.8,147,2834,0.00,1.88,0.00,0.000,6,0.000,0.024,2590,2644,3509
$GC,3113,-0.88,-146.0,460.7,-8.5,154,3115,0.00,0.00,-0.08,0.000,6,0.000,0.000,2589,2637,3530
$GC,3355,-0.88,-146.0,479.6,-7.8,160,3359,0.00,2.12,0.00,0.000,4,0.000,0.067,2580,3901,3528
$GC,3425,-0.88,-146.0,485.6,-8.4,161,3429,0.00,1.85,0.00,0.000,6,0.000,0.025,2580,2642,3528
$GC,3695,-0.88,-146.0,510.0,-9.5,168,3698,0.00,2.08,0.00,0.000,4,0.000,0.027,2580,1240,3526
$GC,3708,-0.88,-146.0,511.6,-10.1,168,3712,0.00,2.33,0.00,0.000,6,0.000,0.059,2576,2639,3526
$GC,3989,-0.88,-146.0,540.6,-10.7,175,3992,0.00,2.15,0.00,0.000,4,0.000,0.072,2566,3904,3522
$GC,4058,-0.88,-146.0,548.7,-11.2,176,4062,0.12,1.90,0.00,0.000,6,0.153,0.026,2597,2641,3522
$GC,4327,-0.88,-146.0,572.5,-8.9,183,4331,0.00,2.22,0.00,0.000,4,0.000,0.079,2589,3897,3520
$GC,4376,-0.88,-146.0,576.8,-9.2,184,4380,0.00,1.90,0.00,0.000,6,0.000,0.027,2590,2647,3519
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4675,-0.32,0.0,602.4,8.6,191,4803,0.60,0.00,124.78,1.068,6,0.118,0.000,2776,2460,2919
$STATE,4803,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4809,0.88,146.0,606.6,0.0,194,4953,1.08,2.45,131.12,1.026,4,0.044,0.061,3178,3878,2324
$GC,5050,0.88,146.0,573.0,28.6,200,5054,0.00,2.20,0.00,0.000,6,0.000,0.029,3188,2448,2318
$GC,5326,0.88,146.0,496.7,27.6,207,5330,0.00,2.10,0.00,0.000,4,0.000,0.031,3198,1050,2313
$GC,5441,0.88,146.0,466.1,24.6,209,5445,0.00,2.28,0.00,0.000,6,0.000,0.048,3192,2464,2311
$GC,5705,0.88,146.0,399.9,24.9,216,5709,0.00,2.12,0.00,0.000,4,0.000,0.028,3201,1041,2309
$GC,5718,0.88,146.0,396.2,24.3,216,5723,0.15,2.30,0.00,0.000,6,0.225,0.048,3172,2471,2309
$GC,5998,0.88,146.0,333.8,21.8,223,6002,0.00,2.15,0.00,0.000,4,0.000,0.029,3180,1042,2307
$GC,6022,0.88,146.0,329.2,17.9,223,6027,0.00,2.30,0.00,0.000,6,0.000,0.046,3179,2470,2307
$GC,6292,0.88,146.0,279.0,18.8,230,6296,0.00,2.15,0.00,0.000,4,0.000,0.028,3188,1043,2306
$GC,6440,0.88,146.0,252.3,16.6,233,6444,0.00,2.30,0.00,0.000,6,0.000,0.048,3187,2461,2305
$GC,6714,0.88,146.0,208.5,15.2,240,6718,0.00,2.30,0.00,0.000,4,0.000,0.053,3187,3873,2304
$GC,6839,0.88,146.0,187.6,16.4,245,6847,0.12,2.17,0.00,0.000,6,0.242,0.026,3171,2455,2303
$GC,7109,0.88,146.0,147.6,15.4,270,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2448,2302
$GC,7375,0.88,146.0,113.6,13.0,295,7378,0.00,2.10,0.00,0.000,4,0.000,0.028,3180,1040,2302
$GC,7634,0.88,146.0,86.3,10.4,318,7639,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2473,2302
$GC,7900,0.90,162.1,58.8,9.3,342,7917,0.00,2.30,11.25,0.601,4,0.000,0.051,3176,3863,2259
$GC,7974,0.90,162.1,50.5,13.4,348,7977,0.00,2.10,0.00,0.000,6,0.000,0.025,3184,2461,2259
$GC,8245,0.90,162.1,21.2,14.2,379,8254,0.00,2.12,0.00,0.000,4,0.000,0.026,3195,1041,2258
$GC,8344,0.90,162.1,6.7,13.7,396,8352,0.00,2.25,0.00,0.000,6,0.000,0.039,3191,2454,2258
$STATE,8369,end climb,SURFACE_DEPTH_REACHED
$STATE,8369,begin surface coast
$FINISH,0.4,1.023810
$STATE,8392,end surface coast,CONTROL_FINISHED_OK
$STATE,8392,begin surface
$SM_CCo,8419,229.93,0.584,0,0,398,618.39
$SM_GC,1.25,0.00,0.00,229.93,0.000,0.000,0.584,42,2658,398,-8.86,0.51,618.39
$IRIDIUM_FIX,2244.02,-15759.32,120600,161646
$TT8_MAMPS,0.023777
$HUMID,1872
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.6,132.015
$10V_AH,10.6,79.377
$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,21.775,94.025,267.150,229.925,0.000,147.574,190.379,1732.916,0.000,0.000,0.000,16.728,844.394,5672.289,589.525,1554.994,2505.459,33.381,1231.101,0.000,1544.506,0.000,0.545,0.000
$DEVICE_MAMPS,241.605,79.001,1067.664,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,272.678,663.281,681.864,161.341,660.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31956,404
$CAP_FILE_SIZE,86104,0
$CFSIZE,260165632,221286400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,190311,192052,2250.503,-15800.876,7,3.1,27,10.1