version: 66.04
glider: 512
mission: 1
dive: 1016
start: 3 20 111 22 51 11
data:
$ID,512
$MISSION,1
$DIVE,1016
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1000
$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,266
$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,-27966.611
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,221354,2242.905,-15801.924,25,1.6,42,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,225020,2242.646,-15802.324,15,1.3,15,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.163
$KALMAN_X,-433684.6,384.1,-199.5,448461.0,-3580.7
$KALMAN_Y,-658928.3,16.0,-388.6,774825.6,748.3
$MHEAD_RNG_PITCHd_Wd,118.7,107809,-17.5,-10.025
$D_GRID,800
$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,18,-0.88,-146.0,0.0,0.0,0,111,0.00,0.00,-90.62,0.000,2,0.000,0.000,30,2668,2803
$GC,117,-0.88,-146.0,3.0,-4.8,12,150,10.80,2.22,-15.38,0.000,4,0.225,0.038,2586,1203,3519
$GC,230,-0.88,-146.0,27.7,-19.3,30,238,0.00,2.38,0.00,0.000,6,0.000,0.057,2577,2618,3519
$GC,503,-0.88,-146.0,94.0,-21.6,56,506,0.00,2.10,0.00,0.000,4,0.000,0.061,2566,3895,3519
$GC,550,-0.88,-146.0,104.2,-20.3,60,554,0.00,1.88,0.00,0.000,6,0.000,0.023,2568,2619,3519
$GC,822,-0.88,-146.0,159.7,-19.5,85,826,0.00,2.05,0.00,0.000,4,0.000,0.026,2570,1222,3519
$GC,848,-0.88,-146.0,165.4,-20.2,87,853,0.12,2.33,0.00,0.000,6,0.156,0.054,2589,2641,3519
$GC,1146,-0.88,-146.0,212.9,-14.2,109,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2641,3519
$GC,1389,-0.88,-146.0,245.3,-13.0,115,1393,0.00,2.10,0.00,0.000,4,0.000,0.025,2589,1219,3518
$GC,1430,-0.88,-146.0,250.8,-12.1,115,1437,0.00,2.38,0.00,0.000,6,0.000,0.056,2589,2638,3518
$GC,1683,-0.88,-146.0,279.9,-12.0,122,1686,0.00,2.10,0.00,0.000,4,0.000,0.063,2579,3907,3518
$GC,1764,-0.88,-146.0,289.6,-12.0,123,1768,0.00,1.88,0.00,0.000,6,0.000,0.024,2579,2632,3517
$GC,2022,-0.88,-146.0,321.7,-12.3,130,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2625,3515
$GC,2267,-0.88,-146.0,352.0,-12.4,136,2270,0.00,2.15,0.00,0.000,4,0.000,0.062,2569,3907,3513
$GC,2308,-0.88,-146.0,357.8,-13.3,136,2314,0.00,1.88,0.00,0.000,6,0.000,0.024,2569,2637,3513
$GC,2561,-0.88,-146.0,390.6,-13.2,143,2565,0.00,2.15,0.00,0.000,4,0.000,0.063,2560,3907,3511
$GC,2602,-0.88,-146.0,396.4,-13.0,143,2609,0.12,1.88,0.00,0.000,6,0.149,0.025,2590,2633,3510
$GC,2854,-0.88,-146.0,423.5,-10.6,150,2858,0.00,2.20,0.00,0.000,4,0.000,0.070,2582,3905,3507
$GC,2918,-0.88,-146.0,430.2,-9.6,151,2922,0.00,1.90,0.00,0.000,6,0.000,0.025,2582,2648,3507
$GC,3196,-0.88,-146.0,459.1,-10.9,158,3197,0.00,0.00,-0.08,0.000,6,0.000,0.000,2582,2641,3529
$GC,3437,-0.88,-146.0,486.8,-11.3,164,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2642,3527
$GC,3681,-0.88,-146.0,514.6,-11.3,170,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2642,3526
$GC,3926,-0.88,-146.0,539.4,-10.0,176,3930,0.00,2.20,0.00,0.000,4,0.000,0.075,2573,3898,3524
$GC,3979,-0.88,-146.0,545.0,-9.5,177,3983,0.00,1.90,0.00,0.000,6,0.000,0.027,2573,2639,3523
$GC,4266,-0.88,-146.0,571.0,-8.9,184,4270,0.00,2.20,0.00,0.000,4,0.000,0.071,2563,3901,3521
$GC,4314,-0.88,-146.0,575.6,-8.9,185,4319,0.12,1.95,0.00,0.000,6,0.146,0.028,2594,2613,3520
$GC,4606,-0.88,-146.0,598.0,-7.9,192,4610,0.00,2.25,0.00,0.000,4,0.000,0.072,2586,3900,3518
$GC,4642,-0.88,-146.0,601.4,-9.0,192,4646,0.00,1.92,0.00,0.000,6,0.000,0.028,2585,2630,3517
$GC,4900,-0.88,-146.0,626.8,-10.2,199,4904,0.00,2.12,0.00,0.000,4,0.000,0.033,2586,1234,3516
$GC,4937,-0.88,-146.0,630.4,-10.0,199,4941,0.00,2.40,0.00,0.000,6,0.000,0.062,2576,2649,3516
$GC,5189,-0.88,-146.0,657.5,-10.8,205,5193,0.00,2.15,0.00,0.000,4,0.000,0.074,2567,3897,3514
$GC,5230,-0.88,-146.0,662.2,-11.2,205,5238,0.08,1.95,0.00,0.000,6,0.146,0.028,2589,2630,3513
$GC,5483,-0.88,-146.0,685.6,-9.2,212,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2622,3512
$GC,5729,-0.88,-146.0,707.6,-9.0,218,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2622,3510
$GC,5970,-0.88,-146.0,728.6,-8.6,224,5974,0.00,2.25,0.00,0.000,4,0.000,0.074,2581,3898,3509
$GC,6025,-0.88,-146.0,733.3,-8.2,225,6028,0.00,1.92,0.00,0.000,6,0.000,0.029,2583,2637,3508
$GC,6312,-0.88,-146.0,758.8,-9.0,232,6315,0.00,2.22,0.00,0.000,4,0.000,0.073,2575,3897,3507
$GC,6342,-0.88,-146.0,762.0,-9.3,232,6346,0.00,1.92,0.00,0.000,6,0.000,0.028,2575,2633,3507
$GC,6606,-0.88,-146.0,786.3,-9.2,239,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2625,3506
$STATE,6763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6763,begin apogee
$GC,6775,-0.32,0.0,800.9,9.0,243,6906,0.65,0.00,128.40,1.227,6,0.126,0.000,2769,2468,2920
$STATE,6907,end apogee,CONTROL_FINISHED_OK
$STATE,6907,begin climb
$GC,6913,0.88,146.0,805.5,0.0,246,7070,1.08,2.55,139.95,1.182,4,0.042,0.064,3172,3873,2324
$GC,7327,0.88,146.0,714.8,30.5,255,7331,0.00,2.20,0.00,0.000,6,0.000,0.030,3181,2448,2314
$GC,7591,0.88,146.0,639.0,28.7,262,7595,0.00,2.15,0.00,0.000,4,0.000,0.032,3192,1034,2311
$GC,7649,0.88,146.0,623.4,24.8,263,7654,0.00,2.33,0.00,0.000,6,0.000,0.051,3192,2465,2310
$GC,7925,0.88,146.0,549.1,26.9,270,7929,0.00,2.17,0.00,0.000,4,0.000,0.031,3200,1042,2308
$GC,7944,0.88,146.0,543.9,25.4,270,7949,0.17,2.30,0.00,0.000,6,0.226,0.048,3166,2461,2308
$GC,8213,0.88,146.0,476.7,25.0,277,8216,0.00,2.17,0.00,0.000,4,0.000,0.031,3174,1041,2307
$GC,8405,0.88,146.0,433.6,24.6,281,8409,0.00,2.33,0.00,0.000,6,0.000,0.049,3174,2461,2306
$GC,8685,0.88,146.0,369.8,21.7,288,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2461,2305
$GC,8928,0.88,146.0,319.1,20.4,294,8932,0.00,2.17,0.00,0.000,4,0.000,0.031,3184,1040,2305
$GC,9015,0.88,146.0,303.5,18.5,295,9022,0.00,2.35,0.00,0.000,6,0.000,0.048,3176,2461,2305
$GC,9269,0.88,146.0,256.8,17.8,302,9273,0.00,2.17,0.00,0.000,4,0.000,0.030,3185,1038,2303
$GC,9457,0.88,146.0,225.3,16.2,306,9461,0.00,2.30,0.00,0.000,6,0.000,0.044,3177,2466,2304
$GC,9726,0.88,146.0,186.1,15.0,319,9730,0.00,2.17,0.00,0.000,4,0.000,0.029,3185,1037,2303
$GC,9959,0.88,146.0,150.5,15.5,339,9968,0.00,2.33,0.00,0.000,6,0.000,0.044,3178,2458,2303
$GC,10224,0.88,146.0,116.8,13.4,364,10228,0.00,2.15,0.00,0.000,4,0.000,0.028,3187,1036,2303
$GC,10484,0.88,146.0,87.6,13.3,387,10489,0.00,2.28,0.00,0.000,6,0.000,0.041,3187,2463,2303
$GC,10756,0.91,168.6,60.7,9.0,411,10782,0.00,2.20,17.40,0.637,4,0.000,0.028,3197,1029,2231
$GC,10832,0.91,172.0,52.9,9.9,417,10846,0.00,2.28,4.00,0.433,6,0.000,0.041,3192,2457,2220
$GC,11108,0.91,172.0,13.7,17.0,451,11116,0.00,2.15,0.00,0.000,4,0.000,0.026,3200,1030,2219
$STATE,11175,end climb,SURFACE_DEPTH_REACHED
$STATE,11175,begin surface coast
$FINISH,0.3,1.023806
$STATE,11192,end surface coast,CONTROL_FINISHED_OK
$STATE,11192,begin surface
$SM_CCo,11222,214.30,0.601,0,0,399,618.39
$SM_GC,1.18,0.00,0.00,214.30,0.000,0.000,0.601,45,2653,399,-8.85,0.37,618.39
$IRIDIUM_FIX,2234.68,-15800.20,130600,222238
$TT8_MAMPS,0.024544
$HUMID,1878
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,22.9,134.083
$10V_AH,10.6,80.432
$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,21.850,108.575,289.750,214.300,0.000,137.403,186.947,1404.991,0.000,0.000,0.000,15.739,984.355,8028.238,600.915,1751.735,2254.192,33.369,1346.476,0.000,1734.214,0.000,0.545,0.000
$DEVICE_MAMPS,226.265,75.166,1227.200,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,316.030,681.355,703.354,156.115,642.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38324,466
$CAP_FILE_SIZE,100599,0
$CFSIZE,260165632,220807168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,210311,020306,2241.648,-15801.528,29,1.3,29,10.0