version: 66.04
glider: 512
mission: 1
dive: 1011
start: 3 20 111 5 9 31
data:
$ID,512
$MISSION,1
$DIVE,1011
$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,-27892.992
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,042924,2247.255,-15802.508,26,1.4,44,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.7
$GPS2,050839,2247.328,-15802.891,15,2.9,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.104
$KALMAN_X,-421724.2,28.1,17.9,435672.6,-2807.9
$KALMAN_Y,-659380.2,-291.6,-48.9,783921.1,1539.9
$MHEAD_RNG_PITCHd_Wd,103.5,116188,-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,17,-0.88,-146.0,0.0,0.0,0,118,0.00,0.00,-98.10,0.000,2,0.000,0.000,22,2672,3016
$GC,124,-0.88,-146.0,3.6,-6.0,13,150,10.85,2.25,-9.55,0.000,4,0.225,0.038,2591,1205,3520
$GC,182,-0.88,-146.0,23.0,-30.3,21,190,0.00,2.38,0.00,0.000,6,0.000,0.061,2583,2613,3521
$GC,450,-0.88,-146.0,85.3,-23.8,48,454,0.00,2.10,0.00,0.000,4,0.000,0.064,2573,3895,3521
$GC,499,-0.88,-146.0,95.4,-19.8,52,502,0.00,1.85,0.00,0.000,6,0.000,0.022,2572,2629,3520
$GC,769,-0.88,-146.0,155.9,-21.9,77,772,0.00,2.12,0.00,0.000,4,0.000,0.061,2562,3907,3521
$GC,809,-0.88,-146.0,165.4,-21.3,80,817,0.10,1.88,0.00,0.000,6,0.153,0.021,2591,2633,3521
$GC,1072,-0.88,-146.0,208.2,-16.1,102,1075,0.00,2.03,0.00,0.000,4,0.000,0.025,2594,1239,3521
$GC,1102,-0.88,-146.0,213.5,-16.7,102,1106,0.00,2.30,0.00,0.000,6,0.000,0.058,2589,2647,3520
$GC,1359,-0.88,-146.0,253.3,-16.0,109,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2647,3520
$GC,1604,-0.88,-146.0,287.6,-14.1,115,1607,0.00,2.08,0.00,0.000,4,0.000,0.067,2580,3901,3520
$GC,1673,-0.88,-146.0,296.8,-11.7,116,1677,0.00,1.85,0.00,0.000,6,0.000,0.022,2581,2646,3519
$GC,1942,-0.88,-146.0,329.5,-12.5,123,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2639,3518
$GC,2186,-0.88,-146.0,359.4,-12.4,129,2190,0.00,2.12,0.00,0.000,4,0.000,0.066,2570,3905,3517
$GC,2222,-0.88,-146.0,364.1,-12.9,129,2226,0.00,1.85,0.00,0.000,6,0.000,0.023,2570,2636,3516
$GC,2481,-0.88,-146.0,398.1,-13.1,136,2485,0.00,2.05,0.00,0.000,4,0.000,0.026,2570,1239,3514
$GC,2529,-0.88,-146.0,404.3,-11.5,137,2534,0.12,2.28,0.00,0.000,6,0.150,0.054,2592,2636,3514
$GC,2817,-0.88,-146.0,434.2,-10.7,144,2820,0.00,2.10,0.00,0.000,4,0.000,0.064,2584,3903,3511
$GC,2903,-0.88,-146.0,444.2,-10.5,145,2910,0.00,1.88,0.00,0.000,6,0.000,0.025,2584,2640,3510
$GC,3157,-0.88,-146.0,472.4,-11.1,152,3160,0.00,2.15,0.00,0.000,4,0.000,0.067,2574,3907,3508
$GC,3220,-0.88,-146.0,479.9,-11.0,153,3224,0.00,1.88,0.00,0.000,6,0.000,0.025,2574,2634,3507
$GC,3496,-0.88,-146.0,509.9,-10.9,160,3499,0.00,2.15,0.00,0.000,4,0.000,0.064,2564,3906,3505
$GC,3550,-0.88,-146.0,516.0,-11.4,161,3554,0.12,1.88,0.00,0.000,6,0.150,0.025,2596,2636,3504
$GC,3836,-0.88,-146.0,539.7,-8.1,168,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2630,3502
$GC,4080,-0.88,-146.0,558.3,-7.6,174,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2630,3500
$GC,4323,-0.88,-146.0,576.4,-7.4,180,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2630,3497
$GC,4568,-0.88,-146.0,595.5,-7.9,186,4571,0.00,2.20,0.00,0.000,4,0.000,0.071,2588,3906,3495
$GC,4616,-0.88,-146.0,599.8,-9.0,187,4620,0.00,1.88,0.00,0.000,6,0.000,0.028,2588,2656,3495
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4637,-0.32,0.0,601.1,8.6,187,4760,0.57,0.00,119.85,1.063,6,0.120,0.000,2770,2457,2919
$STATE,4761,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4766,0.88,146.0,606.2,0.0,190,4904,1.05,2.45,129.50,1.042,4,0.041,0.057,3178,3877,2324
$GC,5040,0.88,146.0,562.4,29.9,196,5044,0.00,2.20,0.00,0.000,6,0.000,0.028,3187,2459,2316
$GC,5314,0.88,146.0,487.4,26.8,203,5318,0.00,2.15,0.00,0.000,4,0.000,0.031,3198,1037,2311
$GC,5333,0.88,146.0,482.7,24.8,203,5337,0.00,2.33,0.00,0.000,6,0.000,0.052,3192,2470,2311
$GC,5602,0.88,146.0,417.7,24.1,210,5606,0.00,2.30,0.00,0.000,4,0.000,0.053,3192,3886,2309
$GC,5615,0.88,146.0,414.2,23.0,210,5620,0.17,2.20,0.00,0.000,6,0.251,0.027,3168,2430,2308
$GC,5890,0.88,146.0,354.7,21.2,217,5893,0.00,2.08,0.00,0.000,4,0.000,0.030,3177,1050,2306
$GC,6078,0.88,146.0,315.7,21.8,221,6082,0.00,2.28,0.00,0.000,6,0.000,0.047,3176,2469,2306
$GC,6370,0.88,146.0,259.0,17.3,228,6374,0.00,2.12,0.00,0.000,4,0.000,0.028,3184,1050,2304
$GC,6394,0.88,146.0,254.8,16.9,228,6398,0.00,2.25,0.00,0.000,6,0.000,0.043,3176,2461,2304
$GC,6664,0.88,146.0,211.3,15.2,235,6668,0.00,2.12,0.00,0.000,4,0.000,0.028,3185,1038,2303
$GC,6727,0.88,146.0,201.6,15.4,236,6731,0.00,2.28,0.00,0.000,6,0.000,0.043,3179,2464,2303
$GC,6997,0.88,146.0,158.8,14.3,260,7001,0.00,2.12,0.00,0.000,4,0.000,0.028,3187,1047,2302
$GC,7197,0.88,146.0,132.4,13.7,277,7201,0.00,2.25,0.00,0.000,6,0.000,0.041,3187,2463,2301
$GC,7463,0.88,146.0,97.4,13.3,301,7467,0.00,2.28,0.00,0.000,4,0.000,0.049,3187,3874,2301
$GC,7541,0.88,146.0,87.0,13.2,307,7546,0.15,2.12,0.00,0.000,6,0.234,0.025,3169,2452,2301
$GC,7813,0.88,146.0,55.6,11.5,331,7816,0.00,2.08,0.00,0.000,4,0.000,0.028,3178,1050,2301
$GC,7852,0.93,183.6,51.3,8.3,334,7891,0.00,2.22,28.55,0.637,6,0.000,0.041,3176,2457,2172
$GC,8152,0.93,183.6,7.7,17.9,373,8160,0.00,2.30,0.00,0.000,4,0.000,0.049,3176,3872,2168
$STATE,8177,end climb,SURFACE_DEPTH_REACHED
$STATE,8177,begin surface coast
$FINISH,0.5,1.023834
$STATE,8194,end surface coast,CONTROL_FINISHED_OK
$STATE,8194,begin surface
$SM_CCo,8223,205.62,0.580,0,0,399,618.39
$SM_GC,1.22,0.00,0.00,205.62,0.000,0.000,0.580,39,2612,399,-8.87,-0.79,618.39
$IRIDIUM_FIX,2239.35,-15804.53,130600,050531
$TT8_MAMPS,0.023777
$HUMID,1919
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,132.932
$10V_AH,10.6,79.828
$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,21.675,89.475,277.900,205.625,0.000,138.675,195.229,1558.573,0.250,0.000,0.000,35.171,795.887,5657.929,547.931,1455.027,2328.948,33.374,1162.268,0.000,1423.284,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,70.564,1063.062,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,256.702,609.385,626.546,144.259,594.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,380
$CAP_FILE_SIZE,84028,0
$CFSIZE,260165632,221110272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,1
$GPS,200311,073131,2246.837,-15802.381,41,1.9,42,10.1