version: 66.04
glider: 512
mission: 1
dive: 1027
start: 3 22 111 13 44 48
data:
$ID,512
$MISSION,1
$DIVE,1027
$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,-28258.312
$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,47
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,133551,2230.489,-15803.543,13,2.5,32,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.7
$GPS2,134358,2230.492,-15803.597,16,2.6,35,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-449587.4,-80.3,449.9,461976.9,-2579.9
$KALMAN_Y,-644122.6,-867.7,-40.5,738051.8,4041.9
$MHEAD_RNG_PITCHd_Wd,128.0,85300,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.40,0.000,2,0.000,0.000,32,2669,2911
$GC,86,-0.88,-146.0,3.1,-5.5,8,119,10.75,2.20,-12.25,0.000,4,0.227,0.039,2585,1233,3498
$GC,172,-0.88,-146.0,24.4,-20.5,21,180,0.00,2.35,0.00,0.000,6,0.000,0.054,2576,2635,3499
$GC,445,-0.88,-146.0,92.7,-23.6,48,449,0.00,2.05,0.00,0.000,4,0.000,0.055,2567,3899,3500
$GC,471,-0.88,-146.0,98.6,-22.7,50,475,0.00,1.88,0.00,0.000,6,0.000,0.024,2567,2631,3500
$GC,744,-0.88,-146.0,160.7,-21.6,75,747,0.00,2.10,0.00,0.000,4,0.000,0.054,2558,3902,3501
$GC,770,-0.88,-146.0,166.7,-21.0,77,774,0.15,1.88,0.00,0.000,6,0.160,0.022,2595,2621,3501
$GC,1067,-0.88,-146.0,213.9,-15.2,99,1070,0.00,2.05,0.00,0.000,4,0.000,0.026,2605,1240,3502
$GC,1154,-0.88,-146.0,224.3,-9.5,100,1161,0.00,2.30,0.00,0.000,6,0.000,0.049,2597,2635,3502
$GC,1406,-0.88,-146.0,257.7,-14.1,107,1410,0.00,2.08,0.00,0.000,4,0.000,0.058,2587,3904,3502
$GC,1509,-0.88,-146.0,271.3,-12.3,109,1513,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,2642,3503
$GC,1793,-0.88,-146.0,306.1,-12.3,116,1797,0.00,2.08,0.00,0.000,4,0.000,0.026,2587,1240,3502
$GC,1835,-0.88,-146.0,311.5,-11.0,116,1841,0.00,2.28,0.00,0.000,6,0.000,0.048,2578,2643,3503
$GC,2089,-0.88,-146.0,342.7,-12.5,123,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2644,3502
$GC,2331,-0.88,-146.0,374.3,-13.2,129,2335,0.00,2.05,0.00,0.000,4,0.000,0.060,2568,3899,3501
$GC,2373,-0.88,-146.0,380.4,-14.2,129,2379,0.00,1.88,0.00,0.000,6,0.000,0.024,2568,2633,3501
$GC,2628,-0.88,-146.0,415.6,-13.9,136,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2625,3500
$GC,2869,-0.88,-146.0,448.5,-13.3,142,2873,0.00,2.12,0.00,0.000,4,0.000,0.057,2558,3905,3498
$GC,2893,-0.88,-146.0,451.7,-12.6,142,2897,0.15,1.88,0.00,0.000,6,0.149,0.024,2597,2633,3498
$GC,3163,-0.88,-146.0,477.2,-9.1,149,3167,0.00,2.12,0.00,0.000,4,0.000,0.058,2588,3899,3496
$GC,3199,-0.88,-146.0,480.5,-8.3,149,3203,0.00,1.88,0.00,0.000,6,0.000,0.025,2588,2637,3495
$GC,3458,-0.88,-146.0,503.4,-8.9,156,3462,0.00,2.12,0.00,0.000,4,0.000,0.058,2579,3900,3494
$GC,3488,-0.88,-146.0,506.5,-10.2,156,3492,0.00,1.88,0.00,0.000,6,0.000,0.024,2579,2639,3494
$GC,3753,-0.88,-146.0,534.6,-11.0,163,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2631,3492
$GC,3997,-0.88,-146.0,562.6,-11.5,169,4001,0.00,2.15,0.00,0.000,4,0.000,0.062,2570,3896,3490
$GC,4035,-0.88,-146.0,567.0,-11.7,169,4038,0.00,1.88,0.00,0.000,6,0.000,0.025,2570,2641,3490
$GC,4294,-0.88,-146.0,595.6,-11.1,176,4298,0.00,2.17,0.00,0.000,4,0.000,0.066,2561,3897,3488
$GC,4336,-0.88,-146.0,600.4,-12.0,176,4343,0.12,1.88,0.00,0.000,6,0.149,0.026,2591,2650,3488
$GC,4589,-0.88,-146.0,621.7,-8.2,183,4592,0.00,2.15,0.00,0.000,4,0.000,0.031,2601,1238,3487
$GC,4626,-0.88,-146.0,624.6,-8.0,183,4630,0.00,2.35,0.00,0.000,6,0.000,0.056,2593,2645,3487
$GC,4881,-0.88,-146.0,644.1,-7.9,189,4885,0.00,2.12,0.00,0.000,4,0.000,0.067,2583,3895,3484
$GC,4957,-0.88,-146.0,650.9,-9.2,190,4960,0.00,1.92,0.00,0.000,6,0.000,0.028,2582,2626,3484
$GC,5222,-0.88,-146.0,674.5,-9.0,197,5226,0.00,2.12,0.00,0.000,4,0.000,0.032,2583,1238,3483
$GC,5241,-0.88,-146.0,676.4,-8.6,197,5246,0.00,2.35,0.00,0.000,6,0.000,0.057,2576,2638,3483
$GC,5512,-0.88,-146.0,699.2,-8.6,204,5515,0.00,2.15,0.00,0.000,4,0.000,0.067,2567,3900,3481
$GC,5570,-0.88,-146.0,704.4,-8.8,205,5574,0.00,1.95,0.00,0.000,6,0.000,0.028,2567,2614,3480
$GC,5850,-0.88,-146.0,728.7,-8.7,212,5855,0.12,2.25,0.00,0.000,4,0.160,0.065,2590,3899,3478
$GC,5903,-0.88,-146.0,732.9,-6.9,213,5907,0.00,1.92,0.00,0.000,6,0.000,0.028,2590,2635,3478
$GC,6184,-0.88,-146.0,752.5,-7.2,220,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2629,3477
$GC,6429,-0.88,-146.0,771.3,-7.9,226,6432,0.00,2.22,0.00,0.000,4,0.000,0.068,2580,3905,3476
$GC,6465,-0.88,-146.0,774.7,-9.4,226,6469,0.00,1.95,0.00,0.000,6,0.000,0.029,2580,2635,3475
$STATE,6718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6718,begin apogee
$GC,6730,-0.32,0.0,800.5,10.2,233,6859,0.65,0.00,125.90,1.233,6,0.124,0.000,2774,2470,2900
$STATE,6860,end apogee,CONTROL_FINISHED_OK
$STATE,6860,begin climb
$GC,6865,0.88,146.0,807.4,0.0,236,7067,1.08,2.40,151.95,1.108,4,0.044,0.033,3183,1051,2303
$GC,7109,0.88,146.0,784.9,25.8,241,7113,0.00,2.42,0.00,0.000,6,0.000,0.049,3179,2460,2298
$GC,7367,0.88,146.0,710.2,29.1,248,7370,0.00,2.17,0.00,0.000,4,0.000,0.032,3187,1040,2292
$GC,7431,0.88,146.0,692.0,28.2,249,7436,0.00,2.33,0.00,0.000,6,0.000,0.050,3187,2478,2292
$GC,7701,0.88,146.0,615.3,28.6,256,7705,0.00,2.20,0.00,0.000,4,0.000,0.032,3197,1044,2290
$GC,7771,0.88,146.0,595.8,26.5,257,7775,0.00,2.30,0.00,0.000,6,0.000,0.049,3192,2462,2289
$GC,8042,0.88,146.0,522.9,26.9,264,8046,0.00,2.17,0.00,0.000,4,0.000,0.031,3200,1039,2288
$GC,8061,0.88,146.0,517.0,26.6,264,8066,0.17,2.30,0.00,0.000,6,0.227,0.045,3166,2468,2288
$GC,8333,0.88,146.0,447.6,25.9,271,8337,0.00,2.20,0.00,0.000,4,0.000,0.031,3174,1034,2287
$GC,8391,0.88,146.0,433.0,22.9,272,8395,0.00,2.33,0.00,0.000,6,0.000,0.047,3174,2458,2287
$GC,8666,0.88,146.0,369.6,22.9,279,8670,0.00,2.33,0.00,0.000,4,0.000,0.055,3174,3874,2286
$GC,8679,0.88,146.0,366.2,23.0,279,8683,0.00,2.17,0.00,0.000,6,0.000,0.028,3184,2457,2285
$GC,8955,0.88,146.0,307.8,20.5,286,8958,0.00,2.15,0.00,0.000,4,0.000,0.031,3195,1043,2285
$GC,9132,0.88,146.0,274.5,18.7,289,9138,0.00,2.30,0.00,0.000,6,0.000,0.045,3192,2461,2284
$GC,9385,0.88,146.0,229.6,16.9,296,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2461,2283
$GC,9628,0.88,146.0,196.7,13.2,302,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2461,2284
$GC,9884,0.88,146.0,156.2,16.7,326,9888,0.00,2.17,0.00,0.000,4,0.000,0.030,3201,1038,2284
$GC,10140,0.88,146.0,120.9,11.7,348,10149,0.15,2.33,0.00,0.000,6,0.205,0.044,3166,2458,2284
$GC,10412,0.90,160.8,87.5,9.3,373,10428,0.00,2.33,10.60,0.638,4,0.000,0.051,3162,3869,2243
$GC,10516,0.90,160.8,72.5,14.5,382,10521,0.00,2.15,0.00,0.000,6,0.000,0.026,3171,2451,2243
$GC,10788,0.90,160.8,37.9,11.5,407,10792,0.00,2.10,0.00,0.000,4,0.000,0.028,3182,1049,2242
$GC,10819,0.90,160.8,34.4,10.6,409,10828,0.00,2.30,0.00,0.000,6,0.000,0.044,3179,2461,2242
$STATE,11030,end climb,SURFACE_DEPTH_REACHED
$STATE,11030,begin surface coast
$FINISH,1.4,1.023877
$STATE,11042,end surface coast,CONTROL_FINISHED_OK
$STATE,11042,begin surface
$SM_CCo,11070,108.35,0.607,0,0,1349,380.21
$SM_GC,1.50,0.00,0.00,108.35,0.000,0.000,0.607,48,2669,1349,-8.84,0.82,380.21
$IRIDIUM_FIX,2223.01,-15800.66,150600,101013
$TT8_MAMPS,0.023777
$HUMID,1905
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,22.7,135.900
$10V_AH,10.5,81.595
$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,22.125,120.175,288.450,108.350,0.000,26.581,42.417,195.612,0.250,0.000,0.000,36.377,966.290,7773.111,497.004,1644.373,782.191,33.375,1207.841,0.000,1608.448,0.000,0.542,0.000
$DEVICE_MAMPS,227.032,68.263,1232.569,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,302.659,634.111,653.002,142.097,580.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35204,446
$CAP_FILE_SIZE,92481,0
$CFSIZE,260165632,220348416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,7,0
$GPS,220311,165237,2229.591,-15803.255,41,1.1,41,10.0