version: 66.04
glider: 512
mission: 1
dive: 1022
start: 3 21 111 20 15 27
data:
$ID,512
$MISSION,1
$DIVE,1022
$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,-28124.021
$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,29
$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
$GPS1,200654,2235.999,-15802.146,30,1.0,47,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.9
$GPS2,201437,2235.958,-15802.198,15,1.2,20,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,-0.257
$KALMAN_X,-444902.9,-53.8,594.1,459520.2,-4164.2
$KALMAN_Y,-653351.1,-245.5,388.9,756331.8,1797.2
$MHEAD_RNG_PITCHd_Wd,179.3,95700,-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,13,begin dive
$GC,18,-0.88,-146.0,0.0,0.0,0,81,0.00,0.00,-60.30,0.000,2,0.000,0.000,32,2669,2935
$GC,87,-0.88,-146.0,3.0,-3.9,8,118,11.00,2.28,-11.93,0.000,4,0.235,0.038,2585,1206,3518
$GC,209,-0.88,-146.0,33.5,-19.1,27,213,0.00,2.38,0.00,0.000,6,0.000,0.059,2576,2618,3520
$GC,475,-0.88,-146.0,100.0,-25.0,51,478,0.00,2.12,0.00,0.000,4,0.000,0.060,2566,3908,3520
$GC,549,-0.88,-146.0,117.5,-19.6,57,556,0.00,1.95,0.00,0.000,6,0.000,0.025,2568,2622,3520
$GC,815,-0.88,-146.0,173.7,-20.8,82,819,0.00,2.08,0.00,0.000,4,0.000,0.026,2570,1217,3521
$GC,867,-0.88,-146.0,184.2,-17.3,86,875,0.10,2.40,0.00,0.000,6,0.144,0.055,2589,2642,3522
$GC,1147,-0.88,-146.0,225.3,-15.1,101,1150,0.00,2.08,0.00,0.000,4,0.000,0.061,2582,3899,3522
$GC,1210,-0.88,-146.0,235.3,-14.6,102,1214,0.00,1.88,0.00,0.000,6,0.000,0.024,2582,2630,3522
$GC,1486,-0.88,-146.0,275.8,-14.9,109,1490,0.00,2.08,0.00,0.000,4,0.000,0.026,2582,1227,3523
$GC,1538,-0.88,-146.0,282.5,-10.9,110,1542,0.00,2.35,0.00,0.000,6,0.000,0.054,2576,2653,3523
$GC,1824,-0.88,-146.0,319.0,-13.2,117,1828,0.00,2.05,0.00,0.000,4,0.000,0.059,2567,3897,3523
$GC,1893,-0.88,-146.0,327.5,-11.2,118,1897,0.00,1.90,0.00,0.000,6,0.000,0.023,2567,2628,3522
$GC,2163,-0.88,-146.0,360.1,-12.3,125,2167,0.12,2.08,0.00,0.000,4,0.160,0.026,2608,1240,3521
$GC,2232,-0.88,-146.0,366.6,-7.4,126,2236,0.00,2.30,0.00,0.000,6,0.000,0.052,2599,2643,3521
$GC,2496,-0.88,-146.0,392.4,-10.3,133,2500,0.00,2.10,0.00,0.000,4,0.000,0.064,2589,3896,3519
$GC,2554,-0.88,-146.0,398.7,-10.1,134,2558,0.00,1.90,0.00,0.000,6,0.000,0.025,2594,2637,3519
$GC,2836,-0.88,-146.0,427.6,-10.2,141,2840,0.00,2.15,0.00,0.000,4,0.000,0.062,2587,3901,3517
$GC,2894,-0.88,-146.0,434.2,-9.6,142,2898,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2640,3516
$GC,3175,-0.88,-146.0,463.5,-10.7,149,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2633,3515
$GC,3418,-0.88,-146.0,488.7,-10.3,155,3422,0.00,2.15,0.00,0.000,4,0.000,0.062,2577,3893,3513
$GC,3455,-0.88,-146.0,492.6,-10.3,155,3458,0.00,1.88,0.00,0.000,6,0.000,0.025,2577,2639,3513
$GC,3713,-0.88,-146.0,518.4,-10.0,162,3717,0.00,2.20,0.00,0.000,4,0.000,0.070,2576,3899,3511
$GC,3772,-0.88,-146.0,524.1,-9.0,163,3776,0.00,1.92,0.00,0.000,6,0.000,0.026,2576,2639,3510
$GC,4053,-0.88,-146.0,551.5,-9.8,170,4057,0.00,2.20,0.00,0.000,4,0.000,0.071,2571,3902,3508
$GC,4105,-0.88,-146.0,556.9,-9.8,171,4109,0.00,1.90,0.00,0.000,6,0.000,0.027,2571,2643,3508
$GC,4391,-0.88,-146.0,585.5,-10.0,178,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2636,3506
$GC,4635,-0.88,-146.0,609.5,-9.6,184,4639,0.00,2.20,0.00,0.000,4,0.000,0.071,2562,3890,3504
$GC,4688,-0.88,-146.0,614.8,-9.1,185,4693,0.12,1.90,0.00,0.000,6,0.147,0.028,2592,2642,3504
$GC,4974,-0.88,-146.0,635.2,-7.1,192,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2635,3503
$GC,5218,-0.88,-146.0,653.3,-7.5,198,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2635,3501
$GC,5462,-0.88,-146.0,673.6,-8.4,204,5466,0.00,2.22,0.00,0.000,4,0.000,0.071,2585,3899,3499
$GC,5498,-0.88,-146.0,676.7,-9.0,204,5502,0.00,1.92,0.00,0.000,6,0.000,0.030,2585,2643,3499
$GC,5758,-0.88,-146.0,698.1,-8.3,211,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2636,3498
$GC,6000,-0.88,-146.0,719.0,-8.7,217,6004,0.00,2.22,0.00,0.000,4,0.000,0.073,2576,3892,3497
$GC,6043,-0.88,-146.0,723.1,-10.0,217,6049,0.00,1.92,0.00,0.000,6,0.000,0.030,2576,2637,3496
$GC,6296,-0.88,-146.0,747.1,-9.5,224,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2631,3496
$GC,6539,-0.88,-146.0,769.5,-9.1,230,6543,0.00,2.22,0.00,0.000,4,0.000,0.071,2567,3891,3495
$GC,6575,-0.88,-146.0,772.8,-8.6,230,6579,0.00,1.92,0.00,0.000,6,0.000,0.029,2567,2639,3494
$GC,6834,-0.88,-146.0,795.8,-9.0,237,6838,0.00,2.15,0.00,0.000,4,0.000,0.034,2567,1234,3494
$GC,6865,-0.88,-146.0,798.7,-9.6,237,6870,0.12,2.40,0.00,0.000,6,0.160,0.062,2591,2638,3494
$STATE,6914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6914,begin apogee
$GC,6926,-0.32,0.0,802.8,7.4,239,7055,0.60,0.00,126.32,1.236,6,0.116,0.000,2775,2465,2920
$STATE,7056,end apogee,CONTROL_FINISHED_OK
$STATE,7056,begin climb
$GC,7062,0.88,146.0,807.2,0.0,242,7250,1.08,2.40,148.68,1.131,4,0.042,0.034,3182,1054,2323
$GC,7454,0.88,146.0,739.4,29.3,250,7461,0.00,2.33,0.00,0.000,6,0.000,0.050,3179,2459,2314
$GC,7706,0.88,146.0,667.1,28.0,257,7710,0.00,2.17,0.00,0.000,4,0.000,0.032,3187,1035,2310
$GC,7719,0.88,146.0,663.2,28.0,257,7723,0.00,2.33,0.00,0.000,6,0.000,0.051,3187,2466,2310
$GC,8000,0.88,146.0,586.4,27.7,264,8004,0.00,2.17,0.00,0.000,4,0.000,0.031,3197,1041,2309
$GC,8153,0.88,146.0,545.2,26.4,267,8158,0.00,2.30,0.00,0.000,6,0.000,0.047,3192,2461,2309
$GC,8423,0.88,146.0,473.6,26.0,274,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2463,2307
$GC,8666,0.88,146.0,415.1,23.4,280,8670,0.00,2.17,0.00,0.000,4,0.000,0.031,3201,1039,2306
$GC,8684,0.88,146.0,411.3,20.1,280,8690,0.17,2.33,0.00,0.000,6,0.229,0.048,3166,2467,2307
$GC,8955,0.88,146.0,354.5,21.1,287,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2468,2306
$GC,9197,0.88,146.0,307.9,19.2,293,9201,0.00,2.17,0.00,0.000,4,0.000,0.031,3175,1038,2305
$GC,9458,0.88,146.0,263.0,15.2,298,9462,0.00,2.30,0.00,0.000,6,0.000,0.045,3175,2460,2305
$GC,9711,0.88,146.0,219.6,17.1,304,9714,0.00,2.17,0.00,0.000,4,0.000,0.031,3184,1044,2304
$GC,9825,0.88,146.0,202.3,15.0,306,9829,0.00,2.30,0.00,0.000,6,0.000,0.045,3176,2460,2304
$GC,10097,0.88,146.0,164.0,15.7,330,10101,0.00,2.17,0.00,0.000,4,0.000,0.029,3185,1038,2304
$GC,10330,0.88,146.0,130.4,13.7,350,10338,0.00,2.33,0.00,0.000,6,0.000,0.042,3176,2460,2304
$GC,10596,0.88,146.0,95.1,12.2,375,10600,0.00,2.17,0.00,0.000,4,0.000,0.028,3185,1033,2304
$GC,10624,0.89,153.3,92.3,9.7,377,10637,0.00,2.28,3.95,0.476,6,0.000,0.041,3176,2465,2295
$GC,10902,0.89,153.3,67.1,10.0,402,10905,0.00,2.15,0.00,0.000,4,0.000,0.027,3185,1041,2294
$GC,10931,0.92,177.7,64.0,8.9,404,10959,0.00,2.28,22.95,0.658,6,0.000,0.041,3177,2467,2195
$GC,11222,0.92,177.7,28.6,14.6,430,11230,0.00,2.30,0.00,0.000,4,0.000,0.051,3176,3867,2191
$GC,11263,0.92,177.7,21.0,16.9,436,11271,0.00,2.17,0.00,0.000,6,0.000,0.024,3185,2447,2190
$STATE,11367,end climb,SURFACE_DEPTH_REACHED
$STATE,11368,begin surface coast
$FINISH,0.4,1.023823
$STATE,11390,end surface coast,CONTROL_FINISHED_OK
$STATE,11390,begin surface
$SM_CCo,11417,102.07,0.616,0,0,1370,380.21
$SM_GC,1.53,0.00,0.00,102.07,0.000,0.000,0.616,41,2681,1370,-8.87,1.16,380.21
$IRIDIUM_FIX,2227.67,-15801.95,140600,161613
$TT8_MAMPS,0.023777
$HUMID,1921
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,22.7,135.096
$10V_AH,10.5,81.079
$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,21.975,116.850,301.900,102.075,0.000,25.473,37.229,186.392,0.500,0.000,0.000,20.371,993.340,7959.535,489.580,1745.916,790.470,33.373,1248.079,0.000,1729.025,0.000,0.542,0.000
$DEVICE_MAMPS,234.702,72.865,1236.404,615.901,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,311.123,652.085,674.663,145.203,597.304,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38308,458
$CAP_FILE_SIZE,95316,0
$CFSIZE,260165632,220598272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,5,0
$GPS,210311,232846,2235.236,-15802.662,10,2.3,29,10.0