version: 66.04
glider: 512
mission: 1
dive: 1017
start: 3 21 111 2 24 9
data:
$ID,512
$MISSION,1
$DIVE,1017
$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,380
$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,-27986.385
$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,37
$R_STBD_OVSHOOT,19
$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
$GPS1,020306,2241.648,-15801.528,29,1.3,29,10.0
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.3
$GPS2,022319,2241.593,-15801.665,14,1.6,19,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.039,-0.257
$KALMAN_X,-436209.5,108.5,561.5,451632.3,-4773.6
$KALMAN_Y,-658766.0,-128.7,235.1,772235.1,212.8
$MHEAD_RNG_PITCHd_Wd,178.7,106108,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.88,-146.0,0.0,0.0,0,119,0.00,0.00,-98.35,0.000,2,0.000,0.000,38,2654,3038
$GC,125,-0.88,-146.0,3.6,-6.9,13,151,10.62,2.20,-9.07,0.000,4,0.222,0.041,2593,1221,3517
$GC,247,-0.88,-146.0,37.1,-18.9,30,251,0.00,2.35,0.00,0.000,6,0.000,0.059,2584,2637,3518
$GC,519,-0.88,-146.0,105.5,-24.1,55,522,0.00,2.10,0.00,0.000,4,0.000,0.063,2574,3904,3518
$GC,604,-0.88,-146.0,123.9,-17.2,62,612,0.00,1.92,0.00,0.000,6,0.000,0.024,2573,2623,3518
$GC,868,-0.88,-146.0,177.0,-20.3,87,872,0.00,2.15,0.00,0.000,4,0.000,0.062,2563,3896,3518
$GC,885,-0.88,-146.0,179.9,-19.2,88,890,0.08,1.88,0.00,0.000,6,0.159,0.023,2601,2624,3518
$GC,1179,-0.88,-146.0,227.0,-15.7,104,1183,0.00,2.00,0.00,0.000,4,0.000,0.026,2611,1254,3518
$GC,1248,-0.88,-146.0,236.3,-10.7,105,1252,0.00,2.30,0.00,0.000,6,0.000,0.056,2603,2644,3518
$GC,1512,-0.88,-146.0,269.2,-12.4,112,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2644,3518
$GC,1755,-0.88,-146.0,297.7,-12.1,118,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2644,3518
$GC,2000,-0.88,-146.0,326.5,-11.9,124,2004,0.00,2.10,0.00,0.000,4,0.000,0.066,2592,3898,3517
$GC,2086,-0.88,-146.0,336.7,-10.4,125,2093,0.00,1.85,0.00,0.000,6,0.000,0.024,2600,2659,3516
$GC,2341,-0.88,-146.0,362.8,-10.7,132,2345,0.00,2.10,0.00,0.000,4,0.000,0.026,2610,1240,3515
$GC,2383,-0.88,-146.0,367.4,-9.4,132,2389,0.00,2.30,0.00,0.000,6,0.000,0.054,2603,2641,3515
$GC,2637,-0.88,-146.0,393.4,-10.5,139,2641,0.00,2.10,0.00,0.000,4,0.000,0.064,2592,3899,3513
$GC,2718,-0.88,-146.0,401.7,-9.4,140,2722,0.00,1.88,0.00,0.000,6,0.000,0.025,2599,2627,3512
$GC,2978,-0.88,-146.0,424.9,-8.8,147,2982,0.00,2.15,0.00,0.000,4,0.000,0.065,2591,3893,3510
$GC,3026,-0.88,-146.0,429.2,-8.3,148,3030,0.00,1.88,0.00,0.000,6,0.000,0.025,2599,2643,3509
$GC,3318,-0.88,-146.0,453.6,-8.5,155,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2635,3507
$GC,3563,-0.88,-146.0,477.3,-9.8,161,3565,0.00,0.00,-0.08,0.000,6,0.000,0.000,2599,2636,3531
$GC,3805,-0.88,-146.0,501.5,-9.9,167,3809,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,1247,3529
$GC,3834,-0.88,-146.0,504.7,-10.2,167,3838,0.00,2.30,0.00,0.000,6,0.000,0.054,2600,2642,3529
$GC,4093,-0.88,-146.0,530.0,-10.0,174,4096,0.00,2.12,0.00,0.000,4,0.000,0.067,2591,3901,3527
$GC,4152,-0.88,-146.0,535.8,-9.1,175,4156,0.00,1.90,0.00,0.000,6,0.000,0.027,2598,2649,3526
$GC,4433,-0.88,-146.0,559.6,-8.3,182,4436,0.00,2.12,0.00,0.000,4,0.000,0.031,2609,1246,3524
$GC,4458,-0.88,-146.0,561.6,-7.7,182,4462,0.00,2.35,0.00,0.000,6,0.000,0.059,2600,2648,3523
$GC,4722,-0.88,-146.0,581.0,-7.5,189,4726,0.00,2.12,0.00,0.000,4,0.000,0.070,2590,3893,3521
$GC,4792,-0.88,-146.0,586.4,-7.5,190,4795,0.00,1.90,0.00,0.000,6,0.000,0.028,2598,2634,3521
$GC,5063,-0.88,-146.0,606.8,-7.9,197,5067,0.00,2.12,0.00,0.000,4,0.000,0.032,2608,1239,3519
$GC,5088,-0.88,-146.0,609.0,-8.1,197,5092,0.00,2.38,0.00,0.000,6,0.000,0.061,2600,2644,3519
$GC,5360,-0.88,-146.0,628.8,-7.4,204,5363,0.00,2.15,0.00,0.000,4,0.000,0.074,2590,3890,3517
$GC,5424,-0.88,-146.0,634.0,-7.6,205,5428,0.00,1.90,0.00,0.000,6,0.000,0.028,2595,2639,3516
$GC,5701,-0.88,-146.0,655.1,-7.8,212,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2632,3515
$GC,5943,-0.88,-146.0,674.6,-8.1,218,5947,0.00,2.15,0.00,0.000,4,0.000,0.034,2604,1237,3514
$GC,5962,-0.88,-146.0,676.4,-8.2,218,5967,0.00,2.40,0.00,0.000,6,0.000,0.062,2596,2645,3514
$GC,6232,-0.88,-146.0,697.1,-7.7,225,6236,0.00,2.17,0.00,0.000,4,0.000,0.075,2588,3897,3512
$GC,6282,-0.88,-146.0,701.0,-7.8,226,6286,0.00,1.95,0.00,0.000,6,0.000,0.029,2587,2635,3511
$GC,6574,-0.88,-146.0,723.4,-7.4,233,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2627,3510
$GC,6817,-0.88,-146.0,741.3,-7.4,239,6821,0.00,2.20,0.00,0.000,4,0.000,0.071,2579,3893,3509
$GC,6853,-0.88,-146.0,744.3,-7.9,239,6857,0.00,1.92,0.00,0.000,6,0.000,0.029,2579,2633,3508
$GC,7113,-0.88,-146.0,767.1,-9.3,246,7117,0.00,2.25,0.00,0.000,4,0.000,0.075,2570,3897,3507
$GC,7149,-0.88,-146.0,771.3,-10.4,246,7153,0.00,1.92,0.00,0.000,6,0.000,0.029,2570,2635,3507
$GC,7407,-0.88,-146.0,798.8,-10.9,253,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2627,3507
$STATE,7444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7444,begin apogee
$GC,7456,-0.32,0.0,803.1,10.8,254,7588,0.68,0.00,129.40,1.234,6,0.128,0.000,2770,2470,2920
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7595,0.88,146.0,809.0,0.0,257,7753,1.08,2.58,140.25,1.185,4,0.043,0.061,3172,3875,2323
$GC,7936,0.88,146.0,744.8,32.7,264,7942,0.00,2.22,0.00,0.000,6,0.000,0.031,3181,2453,2315
$GC,8189,0.88,146.0,671.5,29.1,271,8193,0.00,2.15,0.00,0.000,4,0.000,0.033,3192,1043,2311
$GC,8259,0.88,146.0,652.8,27.0,272,8263,0.00,2.33,0.00,0.000,6,0.000,0.054,3192,2462,2310
$GC,8530,0.88,146.0,580.6,26.6,279,8534,0.00,2.17,0.00,0.000,4,0.000,0.031,3201,1041,2309
$GC,8568,0.88,146.0,570.4,24.7,279,8572,0.17,2.33,0.00,0.000,6,0.223,0.051,3165,2465,2309
$GC,8820,0.88,146.0,510.5,23.4,285,8824,0.00,2.15,0.00,0.000,4,0.000,0.031,3174,1049,2307
$GC,9007,0.88,146.0,470.1,21.8,289,9011,0.00,2.33,0.00,0.000,6,0.000,0.049,3174,2468,2306
$GC,9295,0.88,146.0,404.4,22.4,296,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2468,2306
$GC,9537,0.88,146.0,351.5,21.5,302,9541,0.00,2.17,0.00,0.000,4,0.000,0.030,3185,1034,2304
$GC,9617,0.88,146.0,335.2,20.5,303,9621,0.00,2.33,0.00,0.000,6,0.000,0.044,3176,2472,2304
$GC,9870,0.88,146.0,284.5,19.8,309,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2472,2304
$GC,10113,0.88,146.0,242.2,17.2,315,10117,0.00,2.17,0.00,0.000,4,0.000,0.030,3185,1037,2304
$GC,10342,0.88,146.0,207.8,14.6,320,10346,0.00,2.30,0.00,0.000,6,0.000,0.043,3177,2465,2303
$GC,10607,0.88,146.0,168.3,15.4,339,10611,0.00,2.15,0.00,0.000,4,0.000,0.028,3185,1042,2303
$GC,10722,0.88,146.0,152.7,12.6,349,10726,0.00,2.30,0.00,0.000,6,0.000,0.044,3176,2465,2303
$GC,10989,0.88,146.0,117.0,15.2,373,10993,0.00,2.17,0.00,0.000,4,0.000,0.028,3185,1029,2302
$GC,11114,0.88,146.0,101.3,13.5,384,11119,0.00,2.30,0.00,0.000,6,0.000,0.042,3176,2462,2303
$GC,11386,0.95,198.9,74.6,7.6,408,11435,0.00,2.17,41.97,0.670,4,0.000,0.027,3185,1041,2111
$GC,11444,0.95,198.9,68.8,10.7,412,11452,0.00,2.30,0.00,0.000,6,0.000,0.041,3177,2457,2108
$GC,11716,0.95,198.9,21.7,18.1,441,11725,0.00,2.15,0.00,0.000,4,0.000,0.027,3185,1041,2105
$GC,11784,0.95,198.9,7.8,17.6,452,11792,0.00,2.28,0.00,0.000,6,0.000,0.038,3177,2456,2105
$STATE,11803,end climb,SURFACE_DEPTH_REACHED
$STATE,11803,begin surface coast
$FINISH,0.2,1.023893
$STATE,11821,end surface coast,CONTROL_FINISHED_OK
$STATE,11821,begin surface
$SM_CCo,11848,82.45,0.611,0,0,1369,380.21
$SM_GC,1.15,0.00,0.00,82.45,0.000,0.000,0.611,37,2673,1369,-8.88,0.93,380.21
$IRIDIUM_FIX,2232.34,-15801.07,140600,020247
$TT8_MAMPS,0.023777
$HUMID,1944
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,22.7,134.253
$10V_AH,10.5,80.536
$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,21.150,121.225,311.625,82.450,0.000,56.734,71.961,825.821,0.250,0.000,0.000,19.142,1000.593,8457.016,480.108,1711.982,1490.262,33.371,1255.143,0.000,1692.237,0.000,0.543,0.000
$DEVICE_MAMPS,223.197,75.166,1234.103,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,310.520,631.466,650.300,136.407,555.548,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38334,458
$CAP_FILE_SIZE,107680,0
$CFSIZE,260165632,220839936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,210311,054427,2240.428,-15802.023,17,2.3,36,10.0