version: 66.04
glider: 512
mission: 1
dive: 1019
start: 3 21 111 9 25 16
data:
$ID,512
$MISSION,1
$DIVE,1019
$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,-28042.018
$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,45
$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
$GPS1,090731,2239.406,-15801.476,42,1.0,42,10.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.3
$GPS2,092426,2239.258,-15801.636,15,0.9,15,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.155
$KALMAN_X,-438491.5,691.1,-165.7,454111.9,-3559.8
$KALMAN_Y,-656384.7,236.6,-331.7,765732.8,1369.6
$MHEAD_RNG_PITCHd_Wd,116.7,101881,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-60.45,0.000,2,0.000,0.000,26,2674,2972
$GC,87,-0.88,-146.0,3.3,-5.0,8,120,10.75,2.25,-11.02,0.000,4,0.225,0.040,2587,1221,3520
$GC,189,-0.88,-146.0,30.1,-19.6,24,193,0.00,2.33,0.00,0.000,6,0.000,0.057,2579,2615,3521
$GC,461,-0.88,-146.0,94.6,-21.3,49,465,0.00,2.08,0.00,0.000,4,0.000,0.026,2578,1224,3522
$GC,480,-0.88,-146.0,99.6,-21.5,50,488,0.00,2.35,0.00,0.000,6,0.000,0.053,2568,2641,3522
$GC,746,-0.88,-146.0,154.6,-20.5,75,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2641,3522
$GC,1040,-0.88,-146.0,207.5,-18.1,100,1044,0.00,2.12,0.00,0.000,4,0.000,0.026,2568,1216,3522
$GC,1069,-0.88,-146.0,212.8,-16.3,100,1074,0.15,2.35,0.00,0.000,6,0.152,0.054,2593,2649,3522
$GC,1327,-0.88,-146.0,247.5,-12.9,107,1331,0.00,2.08,0.00,0.000,4,0.000,0.062,2585,3902,3522
$GC,1435,-0.88,-146.0,260.5,-11.4,109,1439,0.00,1.90,0.00,0.000,6,0.000,0.024,2585,2631,3522
$GC,1711,-0.88,-146.0,294.9,-12.8,116,1714,0.00,2.08,0.00,0.000,4,0.000,0.027,2585,1228,3522
$GC,1763,-0.88,-146.0,301.6,-10.7,117,1767,0.00,2.33,0.00,0.000,6,0.000,0.053,2576,2638,3522
$GC,2044,-0.88,-146.0,337.1,-12.6,124,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2638,3521
$GC,2287,-0.88,-146.0,366.7,-12.2,130,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2638,3519
$GC,2532,-0.88,-146.0,396.0,-12.0,136,2536,0.00,2.08,0.00,0.000,4,0.000,0.060,2566,3898,3517
$GC,2568,-0.88,-146.0,400.4,-11.2,136,2573,0.12,1.88,0.00,0.000,6,0.143,0.025,2598,2632,3517
$GC,2829,-0.88,-146.0,423.6,-8.9,143,2833,0.00,2.08,0.00,0.000,4,0.000,0.028,2608,1242,3515
$GC,2871,-0.88,-146.0,427.5,-8.1,143,2877,0.00,2.30,0.00,0.000,6,0.000,0.054,2600,2637,3515
$GC,3124,-0.88,-146.0,449.3,-8.7,150,3127,0.00,2.12,0.00,0.000,4,0.000,0.063,2590,3909,3513
$GC,3198,-0.88,-146.0,455.9,-8.1,151,3202,0.00,1.90,0.00,0.000,6,0.000,0.025,2590,2638,3512
$GC,3463,-0.88,-146.0,478.5,-8.5,158,3467,0.00,2.20,0.00,0.000,4,0.000,0.068,2581,3905,3510
$GC,3493,-0.88,-146.0,481.4,-9.2,158,3497,0.00,1.90,0.00,0.000,6,0.000,0.026,2580,2642,3509
$GC,3757,-0.88,-146.0,506.3,-9.8,165,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2635,3508
$GC,4002,-0.88,-146.0,532.1,-10.7,171,4006,0.00,2.20,0.00,0.000,4,0.000,0.068,2571,3905,3505
$GC,4066,-0.88,-146.0,539.3,-10.6,172,4070,0.00,1.92,0.00,0.000,6,0.000,0.028,2571,2631,3505
$GC,4341,-0.88,-146.0,570.2,-11.4,179,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2623,3503
$GC,4585,-0.88,-146.0,596.3,-10.6,185,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2623,3502
$GC,4830,-0.88,-146.0,621.9,-10.6,191,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2623,3500
$GC,5072,-0.88,-146.0,647.6,-10.5,197,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2623,3498
$GC,5316,-0.88,-146.0,673.6,-10.6,203,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2623,3497
$GC,5562,-0.88,-146.0,698.1,-10.0,209,5565,0.00,2.25,0.00,0.000,4,0.000,0.070,2561,3907,3496
$GC,5625,-0.88,-146.0,705.0,-10.3,210,5630,0.12,1.95,0.00,0.000,6,0.150,0.031,2591,2642,3495
$GC,5903,-0.88,-146.0,728.6,-8.7,217,5907,0.00,2.22,0.00,0.000,4,0.000,0.074,2583,3897,3494
$GC,5944,-0.88,-146.0,732.8,-8.8,217,5951,0.00,1.92,0.00,0.000,6,0.000,0.029,2583,2637,3494
$GC,6199,-0.88,-146.0,757.4,-9.8,224,6203,0.00,2.25,0.00,0.000,4,0.000,0.073,2575,3905,3492
$GC,6242,-0.88,-146.0,762.0,-9.7,224,6248,0.00,1.95,0.00,0.000,6,0.000,0.030,2575,2638,3492
$GC,6496,-0.88,-146.0,787.4,-10.0,231,6500,0.00,2.17,0.00,0.000,4,0.000,0.034,2574,1223,3491
$GC,6545,-0.88,-146.0,792.2,-9.2,232,6550,0.12,2.45,0.00,0.000,6,0.161,0.061,2592,2651,3491
$STATE,6663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6663,begin apogee
$GC,6675,-0.32,0.0,802.0,7.6,235,6803,0.57,0.00,124.78,1.224,6,0.115,0.000,2769,2448,2920
$STATE,6804,end apogee,CONTROL_FINISHED_OK
$STATE,6804,begin climb
$GC,6809,0.88,146.0,806.2,0.0,238,6962,1.08,2.62,139.75,1.167,4,0.041,0.061,3170,3884,2323
$GC,6976,0.88,146.0,790.4,28.3,241,6982,0.00,2.35,0.00,0.000,6,0.000,0.029,3179,2478,2321
$GC,7230,0.88,146.0,710.7,32.2,248,7234,0.00,2.22,0.00,0.000,4,0.000,0.033,3190,1032,2314
$GC,7243,0.88,146.0,705.8,32.1,248,7247,0.00,2.35,0.00,0.000,6,0.000,0.050,3191,2471,2313
$GC,7517,0.88,146.0,623.9,29.6,255,7521,0.00,2.20,0.00,0.000,4,0.000,0.031,3200,1034,2310
$GC,7666,0.88,146.0,584.3,26.0,258,7671,0.17,2.33,0.00,0.000,6,0.223,0.048,3165,2465,2309
$GC,7940,0.88,146.0,515.6,25.0,265,7944,0.00,2.17,0.00,0.000,4,0.000,0.031,3174,1035,2307
$GC,8079,0.88,146.0,482.1,24.7,268,8083,0.00,2.33,0.00,0.000,6,0.000,0.048,3175,2461,2307
$GC,8364,0.88,146.0,409.9,25.0,275,8368,0.00,2.33,0.00,0.000,4,0.000,0.055,3174,3872,2307
$GC,8383,0.88,146.0,405.2,24.4,275,8387,0.00,2.20,0.00,0.000,6,0.000,0.028,3185,2442,2306
$GC,8652,0.88,146.0,343.2,23.0,282,8656,0.00,2.15,0.00,0.000,4,0.000,0.031,3195,1037,2305
$GC,8700,0.88,146.0,334.2,18.8,283,8704,0.00,2.33,0.00,0.000,6,0.000,0.048,3192,2466,2305
$GC,8991,0.88,146.0,275.6,20.0,290,8995,0.00,2.17,0.00,0.000,4,0.000,0.030,3201,1041,2305
$GC,9253,0.88,146.0,230.5,16.4,295,9258,0.17,2.33,0.00,0.000,6,0.214,0.049,3166,2463,2304
$GC,9515,0.88,146.0,194.0,13.8,305,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2463,2303
$GC,9781,0.88,146.0,155.9,14.9,330,9785,0.00,2.17,0.00,0.000,4,0.000,0.029,3174,1041,2303
$GC,10049,0.88,146.0,125.5,11.1,353,10053,0.00,2.35,0.00,0.000,6,0.000,0.046,3175,2469,2303
$GC,10316,0.88,146.0,93.1,11.1,377,10320,0.00,2.17,0.00,0.000,4,0.000,0.028,3185,1032,2303
$GC,10445,0.92,176.8,80.2,8.6,388,10480,0.00,2.33,24.15,0.671,6,0.000,0.042,3177,2458,2198
$GC,10737,0.92,176.8,36.4,14.7,415,10741,0.00,2.12,0.00,0.000,4,0.000,0.027,3185,1035,2194
$GC,10907,0.92,176.8,11.2,16.2,440,10915,0.00,2.30,0.00,0.000,6,0.000,0.038,3176,2466,2194
$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10947,begin surface coast
$FINISH,0.5,1.024067
$STATE,10965,end surface coast,CONTROL_FINISHED_OK
$STATE,10966,begin surface
$SM_CCo,10993,99.28,0.614,0,0,1369,380.21
$SM_GC,1.41,0.00,0.00,99.28,0.000,0.000,0.614,39,2685,1369,-8.87,1.27,380.21
$IRIDIUM_FIX,2230.01,-15801.07,140600,090913
$TT8_MAMPS,0.023777
$HUMID,1925
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,22.7,134.549
$10V_AH,10.5,80.742
$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,21.875,105.675,288.675,99.275,0.000,53.864,74.848,630.448,0.000,0.000,0.000,15.955,962.015,7763.121,463.266,1658.879,1257.267,33.372,1176.326,0.000,1644.814,0.000,0.543,0.000
$DEVICE_MAMPS,224.731,73.632,1224.132,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,305.577,649.838,670.013,141.182,576.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38279,450
$CAP_FILE_SIZE,95821,0
$CFSIZE,260165632,220753920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,210311,123137,2237.927,-15801.095,38,1.5,38,10.0