version: 66.04
glider: 512
mission: 1
dive: 1032
start: 3 23 111 7 51 11
data:
$ID,512
$MISSION,1
$DIVE,1032
$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,608.57941
$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,-28376.371
$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,42
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2880
$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
$GPS1,070837,2226.960,-15802.949,41,1.5,41,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.1
$GPS2,075020,2226.760,-15803.176,14,1.5,14,10.0
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.127
$KALMAN_X,-458809.6,580.0,-3.9,471731.3,-3284.8
$KALMAN_Y,-635297.6,-336.4,-338.8,722093.8,3461.9
$MHEAD_RNG_PITCHd_Wd,109.2,78709,-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,13,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,-60.35,0.000,2,0.000,0.000,20,2676,2897
$GC,87,-0.88,-146.0,3.0,-3.6,8,119,10.70,2.22,-12.68,0.000,4,0.222,0.035,2588,1210,3476
$GC,173,-0.88,-146.0,23.3,-20.3,21,181,0.00,2.30,0.00,0.000,6,0.000,0.052,2579,2599,3477
$GC,449,-0.88,-146.0,89.4,-24.4,49,452,0.00,2.10,0.00,0.000,4,0.000,0.053,2569,3897,3477
$GC,545,-0.88,-146.0,107.5,-16.8,57,549,0.00,1.88,0.00,0.000,6,0.000,0.023,2569,2634,3478
$GC,817,-0.88,-146.0,162.7,-20.0,82,821,0.00,2.08,0.00,0.000,4,0.000,0.026,2571,1216,3478
$GC,914,-0.88,-146.0,177.5,-13.5,90,922,0.10,2.35,0.00,0.000,6,0.148,0.049,2591,2642,3478
$GC,1176,-0.88,-146.0,211.8,-13.7,109,1180,0.00,2.05,0.00,0.000,4,0.000,0.058,2583,3904,3477
$GC,1195,-0.88,-146.0,215.1,-13.7,109,1199,0.00,1.90,0.00,0.000,6,0.000,0.023,2583,2631,3478
$GC,1471,-0.88,-146.0,254.3,-14.2,116,1474,0.00,2.05,0.00,0.000,4,0.000,0.025,2582,1235,3478
$GC,1513,-0.88,-146.0,259.9,-11.2,116,1519,0.00,2.28,0.00,0.000,6,0.000,0.049,2576,2641,3477
$GC,1765,-0.88,-146.0,292.2,-13.2,123,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2641,3476
$GC,2009,-0.88,-146.0,325.9,-13.8,129,2013,0.00,2.05,0.00,0.000,4,0.000,0.058,2566,3903,3475
$GC,2084,-0.88,-146.0,335.8,-11.7,130,2088,0.12,1.88,0.00,0.000,6,0.146,0.023,2598,2622,3474
$GC,2348,-0.88,-146.0,361.4,-9.6,137,2352,0.00,2.05,0.00,0.000,4,0.000,0.027,2608,1238,3473
$GC,2384,-0.88,-146.0,365.0,-9.0,137,2388,0.00,2.30,0.00,0.000,6,0.000,0.051,2599,2653,3472
$GC,2637,-0.88,-146.0,387.6,-9.1,143,2640,0.00,2.05,0.00,0.000,4,0.000,0.062,2590,3893,3471
$GC,2724,-0.88,-146.0,396.2,-9.7,144,2730,0.00,1.85,0.00,0.000,6,0.000,0.023,2590,2637,3470
$GC,2978,-0.88,-146.0,423.9,-11.2,151,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2631,3468
$GC,3220,-0.88,-146.0,450.0,-10.6,157,3225,0.00,2.20,-0.08,0.000,4,0.000,0.071,2580,3894,3490
$GC,3252,-0.88,-146.0,453.5,-11.8,157,3255,0.00,1.85,0.00,0.000,6,0.000,0.025,2580,2648,3490
$GC,3512,-0.88,-146.0,483.6,-11.7,164,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2640,3487
$GC,3753,-0.88,-146.0,511.1,-11.1,170,3757,0.00,2.15,0.00,0.000,4,0.000,0.068,2571,3892,3486
$GC,3812,-0.88,-146.0,517.8,-11.0,171,3815,0.00,1.88,0.00,0.000,6,0.000,0.025,2571,2640,3485
$GC,4092,-0.88,-146.0,550.2,-11.7,178,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2633,3483
$GC,4338,-0.88,-146.0,578.4,-11.5,184,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2633,3481
$GC,4580,-0.88,-146.0,604.2,-10.5,190,4583,0.00,2.17,0.00,0.000,4,0.000,0.067,2562,3898,3479
$GC,4655,-0.88,-146.0,612.4,-10.7,191,4659,0.12,1.90,0.00,0.000,6,0.152,0.027,2592,2643,3479
$GC,4919,-0.88,-146.0,633.7,-8.1,198,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2636,3477
$GC,5163,-0.88,-146.0,653.9,-8.4,204,5167,0.00,2.15,0.00,0.000,4,0.000,0.033,2601,1236,3475
$GC,5207,-0.88,-146.0,657.6,-8.7,204,5213,0.00,2.35,0.00,0.000,6,0.000,0.058,2593,2639,3475
$GC,5461,-0.88,-146.0,680.3,-9.1,211,5464,0.00,2.15,0.00,0.000,4,0.000,0.069,2583,3902,3474
$GC,5537,-0.88,-146.0,687.7,-9.4,212,5541,0.00,1.92,0.00,0.000,6,0.000,0.028,2583,2633,3473
$GC,5801,-0.88,-146.0,713.2,-9.7,219,5805,0.00,2.12,0.00,0.000,4,0.000,0.033,2583,1240,3472
$GC,5825,-0.88,-146.0,715.8,-10.0,219,5830,0.00,2.35,0.00,0.000,6,0.000,0.058,2576,2635,3472
$GC,6097,-0.88,-146.0,741.5,-9.5,226,6101,0.00,2.15,0.00,0.000,4,0.000,0.068,2567,3900,3470
$GC,6150,-0.88,-146.0,747.0,-9.8,227,6154,0.00,1.92,0.00,0.000,6,0.000,0.027,2567,2629,3469
$GC,6437,-0.88,-146.0,774.6,-9.5,234,6441,0.12,2.25,0.00,0.000,4,0.162,0.068,2590,3903,3468
$GC,6472,-0.88,-146.0,777.8,-8.0,234,6476,0.00,1.92,0.00,0.000,6,0.000,0.028,2590,2641,3468
$GC,6732,-0.88,-146.0,796.0,-7.0,241,6736,0.00,2.15,0.00,0.000,4,0.000,0.033,2590,1226,3466
$GC,6763,-0.88,-146.0,798.6,-7.6,241,6767,0.00,2.40,0.00,0.000,6,0.000,0.059,2589,2645,3466
$STATE,6812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6812,begin apogee
$GC,6824,-0.32,0.0,802.3,6.9,243,6956,0.60,0.00,128.27,1.225,6,0.117,0.000,2772,2455,2880
$STATE,6956,end apogee,CONTROL_FINISHED_OK
$STATE,6956,begin climb
$GC,6963,0.88,146.0,805.5,0.0,246,7172,1.08,2.35,153.05,1.088,4,0.041,0.035,3181,1058,2283
$GC,7412,0.88,146.0,712.9,29.6,256,7416,0.00,2.28,0.00,0.000,6,0.000,0.048,3179,2468,2273
$GC,7686,0.88,146.0,631.0,30.4,263,7690,0.00,2.17,0.00,0.000,4,0.000,0.031,3187,1042,2270
$GC,7806,0.88,146.0,596.7,27.7,265,7810,0.00,2.30,0.00,0.000,6,0.000,0.050,3187,2465,2270
$GC,8071,0.88,146.0,520.1,28.9,272,8074,0.00,2.17,0.00,0.000,4,0.000,0.029,3197,1031,2268
$GC,8170,0.88,146.0,492.1,27.1,274,8174,0.00,2.33,0.00,0.000,6,0.000,0.047,3192,2465,2268
$GC,8451,0.88,146.0,418.8,25.7,281,8455,0.00,2.17,0.00,0.000,4,0.000,0.030,3201,1041,2267
$GC,8549,0.88,146.0,396.2,23.4,283,8554,0.17,2.33,0.00,0.000,6,0.221,0.048,3166,2468,2267
$GC,8830,0.88,146.0,334.1,21.7,290,8834,0.00,2.20,0.00,0.000,4,0.000,0.031,3174,1040,2266
$GC,8879,0.88,146.0,324.2,21.1,291,8883,0.00,2.30,0.00,0.000,6,0.000,0.046,3174,2462,2265
$GC,9165,0.88,146.0,265.7,20.2,298,9169,0.00,2.17,0.00,0.000,4,0.000,0.031,3184,1040,2265
$GC,9304,0.88,146.0,238.9,17.8,301,9308,0.00,2.30,0.00,0.000,6,0.000,0.044,3176,2462,2265
$GC,9561,0.88,146.0,196.2,16.4,308,9565,0.00,2.17,0.00,0.000,4,0.000,0.029,3185,1036,2264
$GC,9803,0.88,146.0,160.9,15.6,329,9807,0.00,2.30,0.00,0.000,6,0.000,0.043,3176,2465,2263
$GC,10070,0.88,146.0,123.7,15.3,353,10074,0.00,2.17,0.00,0.000,4,0.000,0.029,3185,1038,2263
$GC,10333,0.88,147.0,91.1,10.0,376,10337,0.00,2.28,0.00,0.000,6,0.000,0.041,3176,2464,2263
$GC,10604,0.91,168.9,62.9,9.0,400,10631,0.00,2.20,17.27,0.642,4,0.000,0.027,3185,1036,2190
$GC,10691,0.91,168.9,52.1,14.7,407,10695,0.00,2.25,0.00,0.000,6,0.000,0.039,3177,2468,2189
$GC,10960,0.91,168.9,6.7,20.0,443,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2469,2188
$STATE,10976,end climb,SURFACE_DEPTH_REACHED
$STATE,10976,begin surface coast
$FINISH,0.5,1.023909
$STATE,10993,end surface coast,CONTROL_FINISHED_OK
$STATE,10993,begin surface
$SM_CCo,11021,223.75,0.595,0,0,398,608.58
$SM_GC,1.29,0.00,0.00,223.75,0.000,0.000,0.595,42,2667,398,-8.86,0.76,608.58
$IRIDIUM_FIX,2218.34,-15800.66,160600,070751
$TT8_MAMPS,0.023777
$HUMID,1879
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,22.9,136.823
$10V_AH,10.5,82.151
$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,21.450,112.375,298.600,223.750,0.000,145.428,194.844,1705.971,0.250,0.000,0.000,14.198,985.514,7808.725,620.523,1744.766,2585.555,33.369,1378.721,0.000,1731.376,0.000,0.545,0.000
$DEVICE_MAMPS,222.430,71.331,1224.899,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,304.360,647.593,667.246,143.221,587.403,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35164,448
$CAP_FILE_SIZE,103176,0
$CFSIZE,260165632,220037120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,8,0
$GPS,230311,110007,2226.172,-15802.524,41,1.2,41,10.0