version: 66.04
glider: 512
mission: 1
dive: 1020
start: 3 21 111 13 20 17
data:
$ID,512
$MISSION,1
$DIVE,1020
$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,-28076.006
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,123137,2237.927,-15801.095,38,1.5,38,10.0
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.9
$GPS2,131922,2237.841,-15801.538,13,2.1,32,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.175
$KALMAN_X,-441435.3,645.0,-310.6,457419.6,-3401.9
$KALMAN_Y,-656393.5,115.4,-415.7,763330.4,1246.7
$MHEAD_RNG_PITCHd_Wd,122.3,99349,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-52.78,0.000,2,0.000,0.000,18,2684,2723
$GC,79,-0.88,-146.0,3.1,-4.9,7,119,10.80,2.25,-18.77,0.000,4,0.223,0.038,2586,1214,3519
$GC,188,-0.88,-146.0,25.3,-23.0,24,196,0.00,2.30,0.00,0.000,6,0.000,0.049,2578,2609,3520
$GC,456,-0.88,-146.0,90.7,-23.2,50,460,0.00,2.10,0.00,0.000,4,0.000,0.054,2567,3908,3520
$GC,486,-0.88,-146.0,98.9,-25.7,52,494,0.00,1.92,0.00,0.000,6,0.000,0.024,2567,2633,3519
$GC,751,-0.88,-146.0,157.9,-20.8,77,755,0.00,2.08,0.00,0.000,4,0.000,0.027,2567,1229,3520
$GC,783,-0.88,-146.0,164.7,-20.9,79,790,0.10,2.33,0.00,0.000,6,0.144,0.051,2588,2633,3520
$GC,1055,-0.88,-146.0,207.2,-14.5,102,1059,0.00,2.05,0.00,0.000,4,0.000,0.058,2580,3901,3520
$GC,1090,-0.88,-146.0,212.3,-14.2,102,1094,0.00,1.88,0.00,0.000,6,0.000,0.022,2580,2621,3520
$GC,1349,-0.88,-146.0,253.4,-16.5,109,1353,0.00,2.05,0.00,0.000,4,0.000,0.026,2580,1226,3520
$GC,1401,-0.88,-146.0,261.4,-13.3,110,1406,0.00,2.35,0.00,0.000,6,0.000,0.055,2577,2647,3520
$GC,1682,-0.88,-146.0,299.9,-13.4,117,1686,0.00,2.05,0.00,0.000,4,0.000,0.062,2567,3894,3519
$GC,1741,-0.88,-146.0,307.2,-11.1,118,1745,0.12,1.85,0.00,0.000,6,0.146,0.022,2598,2625,3519
$GC,2021,-0.88,-146.0,336.2,-10.3,125,2024,0.00,2.05,0.00,0.000,4,0.000,0.026,2608,1238,3518
$GC,2045,-0.88,-146.0,338.7,-9.9,125,2050,0.00,2.30,0.00,0.000,6,0.000,0.052,2600,2649,3518
$GC,2310,-0.88,-146.0,363.7,-9.7,132,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2649,3516
$GC,2553,-0.88,-146.0,388.7,-10.3,138,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2649,3514
$GC,2798,-0.88,-146.0,413.2,-10.1,144,2802,0.00,2.08,0.00,0.000,4,0.000,0.063,2590,3900,3512
$GC,2868,-0.88,-146.0,420.2,-9.2,145,2872,0.00,1.85,0.00,0.000,6,0.000,0.025,2598,2643,3511
$GC,3140,-0.88,-146.0,444.8,-9.1,152,3143,0.00,2.10,0.00,0.000,4,0.000,0.028,2607,1234,3509
$GC,3165,-0.88,-146.0,447.4,-9.4,152,3169,0.00,2.28,0.00,0.000,6,0.000,0.051,2599,2639,3509
$GC,3436,-0.88,-146.0,471.8,-9.5,159,3440,0.00,2.17,-0.08,0.000,4,0.000,0.075,2589,3898,3531
$GC,3525,-0.88,-146.0,480.7,-10.3,161,3529,0.00,1.88,0.00,0.000,6,0.000,0.025,2589,2637,3530
$GC,3817,-0.88,-146.0,510.7,-9.9,168,3821,0.00,2.15,0.00,0.000,4,0.000,0.062,2579,3903,3527
$GC,3847,-0.88,-146.0,513.8,-10.4,168,3851,0.00,1.90,0.00,0.000,6,0.000,0.025,2579,2630,3527
$GC,4111,-0.88,-146.0,540.3,-10.1,175,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2622,3525
$GC,4356,-0.88,-146.0,564.9,-10.1,181,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2622,3524
$GC,4598,-0.88,-146.0,589.7,-10.2,187,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2622,3521
$GC,4842,-0.88,-146.0,612.9,-9.5,193,4846,0.00,2.22,0.00,0.000,4,0.000,0.071,2570,3900,3519
$GC,4884,-0.88,-146.0,617.0,-9.7,193,4890,0.00,1.90,0.00,0.000,6,0.000,0.027,2569,2644,3519
$GC,5137,-0.88,-146.0,643.1,-10.4,200,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2638,3518
$GC,5381,-0.88,-146.0,668.4,-10.4,206,5385,0.00,2.20,0.00,0.000,4,0.000,0.071,2560,3898,3516
$GC,5399,-0.88,-146.0,670.7,-10.3,206,5404,0.08,1.92,0.00,0.000,6,0.134,0.027,2593,2646,3516
$GC,5676,-0.88,-146.0,693.4,-8.3,213,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2641,3514
$GC,5919,-0.88,-146.0,714.5,-8.8,219,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2640,3513
$GC,6162,-0.88,-146.0,735.2,-8.5,225,6165,0.00,2.20,0.00,0.000,4,0.000,0.074,2584,3893,3511
$GC,6215,-0.88,-146.0,740.1,-8.6,226,6219,0.00,1.92,0.00,0.000,6,0.000,0.029,2585,2650,3510
$GC,6501,-0.88,-146.0,767.1,-9.7,233,6505,0.00,2.20,0.00,0.000,4,0.000,0.073,2576,3893,3510
$GC,6534,-0.88,-146.0,770.5,-11.7,233,6537,0.00,1.92,0.00,0.000,6,0.000,0.029,2576,2632,3509
$GC,6797,-0.88,-146.0,798.6,-10.7,240,6801,0.00,2.15,0.00,0.000,4,0.000,0.033,2576,1228,3509
$STATE,6805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6805,begin apogee
$GC,6819,-0.32,0.0,800.1,10.5,240,6951,0.62,0.00,128.35,1.234,6,0.123,0.000,2770,2462,2920
$STATE,6951,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6958,0.88,146.0,806.5,0.0,243,7128,1.08,2.58,142.38,1.154,4,0.041,0.060,3174,3878,2324
$GC,7226,0.88,146.0,766.1,31.6,249,7230,0.00,2.22,0.00,0.000,6,0.000,0.031,3184,2473,2318
$GC,7509,0.88,146.0,683.1,29.7,256,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2468,2312
$GC,7750,0.88,146.0,610.6,29.7,262,7754,0.00,2.20,0.00,0.000,4,0.000,0.032,3195,1026,2311
$GC,7984,0.88,146.0,546.8,26.6,267,7988,0.00,2.35,0.00,0.000,6,0.000,0.048,3192,2475,2308
$GC,8264,0.88,146.0,472.0,26.0,274,8268,0.00,2.22,0.00,0.000,4,0.000,0.031,3200,1034,2308
$GC,8283,0.88,146.0,467.2,25.1,274,8288,0.17,2.35,0.00,0.000,6,0.228,0.051,3166,2465,2308
$GC,8553,0.88,146.0,405.1,23.1,281,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2466,2307
$GC,8796,0.88,146.0,354.9,19.8,287,8800,0.00,2.20,0.00,0.000,4,0.000,0.031,3174,1031,2306
$GC,9012,0.88,146.0,313.1,18.5,291,9016,0.00,2.38,0.00,0.000,6,0.000,0.051,3175,2468,2306
$GC,9264,0.88,146.0,267.8,17.1,297,9268,0.00,2.20,0.00,0.000,4,0.000,0.030,3184,1025,2305
$GC,9285,0.88,146.0,264.9,16.3,297,9289,0.00,2.35,0.00,0.000,6,0.000,0.045,3176,2471,2305
$GC,9554,0.88,146.0,226.0,13.9,304,9557,0.00,2.20,0.00,0.000,4,0.000,0.029,3185,1028,2305
$GC,9702,0.88,146.0,201.6,16.3,307,9706,0.00,2.33,0.00,0.000,6,0.000,0.044,3176,2459,2305
$GC,9968,0.88,146.0,163.2,12.9,330,9972,0.00,2.35,0.00,0.000,4,0.000,0.056,3176,3874,2305
$GC,9989,0.88,146.0,160.6,12.5,331,9994,0.00,2.20,0.00,0.000,6,0.000,0.028,3185,2431,2304
$GC,10260,0.88,146.0,129.6,10.4,356,10264,0.00,2.08,0.00,0.000,4,0.000,0.028,3195,1046,2304
$GC,10312,0.88,146.0,123.2,12.0,360,10320,0.00,2.30,0.00,0.000,6,0.000,0.044,3192,2459,2304
$GC,10578,0.88,146.0,90.8,13.7,385,10583,0.00,2.33,0.00,0.000,4,0.000,0.051,3191,3880,2304
$GC,10592,0.88,146.0,88.7,13.0,385,10600,0.12,2.17,0.00,0.000,6,0.250,0.026,3174,2460,2304
$GC,10864,0.88,146.0,58.5,10.5,410,10868,0.00,2.30,0.00,0.000,4,0.000,0.048,3164,3875,2304
$GC,11123,0.88,146.0,35.3,10.1,432,11131,0.00,2.15,0.00,0.000,6,0.000,0.024,3173,2455,2305
$GC,11393,0.88,146.0,8.8,10.1,476,11401,0.00,2.35,0.00,0.000,4,0.000,0.049,3164,3876,2305
$GC,11413,0.89,153.3,6.9,9.7,478,11422,0.00,2.15,4.53,0.436,6,0.000,0.025,3173,2460,2295
$STATE,11444,end climb,SURFACE_DEPTH_REACHED
$STATE,11444,begin surface coast
$FINISH,0.6,1.023895
$STATE,11472,end surface coast,CONTROL_FINISHED_OK
$STATE,11472,begin surface
$SM_CCo,11499,241.12,0.599,0,0,398,618.39
$SM_GC,1.21,0.00,0.00,241.12,0.000,0.000,0.599,46,2674,398,-8.86,0.96,618.39
$IRIDIUM_FIX,2230.01,-15803.24,140600,131327
$TT8_MAMPS,0.023777
$HUMID,1847
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.0,134.821
$10V_AH,10.6,80.876
$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,21.625,116.975,275.250,241.125,0.000,139.202,212.029,2036.156,0.250,0.000,0.000,33.358,1031.898,8206.165,603.593,1811.070,2956.053,33.403,1354.223,0.000,1790.983,0.000,0.544,0.000
$DEVICE_MAMPS,250.042,75.166,1234.103,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,331.392,723.913,749.023,171.695,698.606,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38378,488
$CAP_FILE_SIZE,119770,0
$CFSIZE,260165632,220672000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
$GPS,210311,163730,2236.772,-15801.193,36,1.2,41,10.0