version: 66.04
glider: 512
mission: 1
dive: 1009
start: 3 19 111 23 6 1
data:
$ID,512
$MISSION,1
$DIVE,1009
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,740
$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,200
$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,-27814.787
$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,29
$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
$GPS1,222237,2249.486,-15801.037,40,1.3,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.7
$GPS2,230508,2249.189,-15801.558,14,1.6,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ONEK
$TGT_LATLONG,2145.400,-15813.700
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.038,-0.257
$KALMAN_X,-417766.7,46.6,327.6,433681.5,-3749.2
$KALMAN_Y,-661715.1,156.7,304.4,788893.8,-872.8
$MHEAD_RNG_PITCHd_Wd,178.2,119969,-17.5,-10.000
$D_GRID,600
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-90.43,0.000,2,0.000,0.000,36,2659,2800
$GC,117,-0.88,-146.0,3.1,-5.2,12,150,10.77,2.15,-15.60,0.000,4,0.224,0.035,2585,1211,3517
$GC,240,-0.88,-146.0,27.7,-17.7,32,248,0.00,2.35,0.00,0.000,6,0.000,0.057,2576,2618,3519
$GC,513,-0.88,-146.0,97.1,-24.8,58,517,0.00,2.12,0.00,0.000,4,0.000,0.065,2566,3903,3518
$GC,587,-0.88,-146.0,113.3,-18.1,64,596,0.00,1.90,0.00,0.000,6,0.000,0.022,2566,2622,3518
$GC,852,-0.88,-146.0,168.9,-18.8,89,856,0.12,2.05,0.00,0.000,4,0.173,0.024,2606,1236,3518
$GC,889,-0.88,-146.0,175.3,-15.2,92,893,0.00,2.35,0.00,0.000,6,0.000,0.061,2597,2642,3519
$GC,1161,-0.88,-146.0,212.2,-13.4,111,1165,0.00,2.08,0.00,0.000,4,0.000,0.067,2588,3899,3519
$GC,1258,-0.88,-146.0,224.8,-11.1,113,1262,0.00,1.85,0.00,0.000,6,0.000,0.022,2588,2622,3519
$GC,1545,-0.88,-146.0,263.0,-13.8,120,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2615,3518
$GC,1789,-0.88,-146.0,296.1,-13.6,126,1793,0.00,2.17,0.00,0.000,4,0.000,0.067,2577,3907,3517
$GC,1819,-0.88,-146.0,300.4,-14.3,126,1823,0.00,1.85,0.00,0.000,6,0.000,0.023,2577,2635,3517
$GC,2083,-0.88,-146.0,335.3,-13.2,133,2086,0.00,2.05,0.00,0.000,4,0.000,0.025,2577,1231,3515
$GC,2141,-0.88,-146.0,342.2,-10.3,134,2146,0.00,2.35,0.00,0.000,6,0.000,0.059,2574,2657,3515
$GC,2419,-0.88,-146.0,377.9,-13.2,141,2422,0.00,2.05,0.00,0.000,4,0.000,0.065,2565,3887,3512
$GC,2518,-0.88,-146.0,390.4,-12.0,143,2522,0.12,1.83,0.00,0.000,6,0.146,0.024,2597,2638,3511
$GC,2804,-0.88,-146.0,418.9,-9.9,150,2808,0.00,2.15,0.00,0.000,4,0.000,0.071,2589,3887,3508
$GC,2840,-0.88,-146.0,423.0,-10.5,150,2844,0.00,1.85,0.00,0.000,6,0.000,0.025,2589,2642,3508
$GC,3098,-0.88,-146.0,450.6,-10.8,157,3102,0.00,2.22,-0.08,0.000,4,0.000,0.082,2579,3888,3530
$GC,3150,-0.88,-146.0,456.5,-10.8,158,3153,0.00,1.85,0.00,0.000,6,0.000,0.025,2579,2643,3530
$GC,3431,-0.88,-146.0,487.1,-11.0,165,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2636,3527
$GC,3675,-0.88,-146.0,512.4,-10.3,171,3678,0.00,2.17,0.00,0.000,4,0.000,0.073,2569,3889,3525
$GC,3733,-0.88,-146.0,518.6,-9.8,172,3737,0.00,1.90,0.00,0.000,6,0.000,0.027,2570,2645,3525
$GC,4015,-0.88,-146.0,547.3,-10.5,179,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2638,3523
$GC,4257,-0.88,-146.0,573.9,-11.0,185,4260,0.00,2.17,0.00,0.000,4,0.000,0.073,2560,3892,3520
$GC,4320,-0.88,-146.0,581.3,-11.1,186,4325,0.12,1.90,0.00,0.000,6,0.150,0.027,2590,2632,3519
$STATE,4549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4550,begin apogee
$GC,4562,-0.32,0.0,602.3,9.0,192,4690,0.57,0.00,125.18,1.062,6,0.115,0.000,2772,2463,2920
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4696,0.88,146.0,607.6,0.0,195,4840,1.10,2.22,131.32,1.029,4,0.050,0.030,3195,1043,2323
$GC,5027,0.88,146.0,556.2,25.0,203,5031,0.00,2.30,0.00,0.000,6,0.000,0.053,3192,2456,2314
$GC,5301,0.88,146.0,483.9,26.7,210,5305,0.00,2.15,0.00,0.000,4,0.000,0.031,3201,1032,2310
$GC,5399,0.88,146.0,459.4,24.4,212,5404,0.15,2.30,0.00,0.000,6,0.217,0.046,3171,2468,2309
$GC,5679,0.88,146.0,391.0,23.5,219,5683,0.00,2.15,0.00,0.000,4,0.000,0.028,3179,1032,2307
$GC,5698,0.88,146.0,386.1,24.0,219,5702,0.00,2.30,0.00,0.000,6,0.000,0.046,3178,2466,2307
$GC,5968,0.88,146.0,326.1,21.9,226,5972,0.00,2.15,0.00,0.000,4,0.000,0.029,3187,1038,2305
$GC,6155,0.88,146.0,289.5,20.6,230,6159,0.00,2.30,0.00,0.000,6,0.000,0.046,3188,2468,2304
$GC,6447,0.88,146.0,231.7,19.2,237,6451,0.00,2.15,0.00,0.000,4,0.000,0.028,3198,1027,2303
$GC,6500,0.88,146.0,222.2,17.4,238,6504,0.00,2.30,0.00,0.000,6,0.000,0.043,3192,2462,2303
$GC,6766,0.88,146.0,179.8,15.4,252,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2462,2301
$GC,7032,0.88,146.0,141.1,13.1,277,7036,0.00,2.33,0.00,0.000,4,0.000,0.053,3192,3881,2301
$GC,7066,0.88,146.0,136.6,14.6,279,7071,0.17,2.17,0.00,0.000,6,0.248,0.026,3168,2433,2300
$GC,7337,0.88,146.0,105.9,11.9,303,7341,0.00,2.08,0.00,0.000,4,0.000,0.029,3176,1049,2300
$GC,7377,0.88,146.0,100.1,11.5,306,7386,0.00,2.30,0.00,0.000,6,0.000,0.048,3176,2451,2300
$GC,7644,0.90,163.7,73.6,9.2,331,7662,0.00,0.00,12.30,0.627,6,0.000,0.000,3176,2452,2252
$GC,7920,0.90,163.7,43.2,12.5,357,7924,0.00,2.33,0.00,0.000,4,0.000,0.056,3176,3872,2251
$GC,7969,0.90,163.7,35.9,16.0,361,7973,0.00,2.10,0.00,0.000,6,0.000,0.025,3185,2461,2250
$STATE,8206,end climb,SURFACE_DEPTH_REACHED
$STATE,8206,begin surface coast
$FINISH,0.3,1.023813
$STATE,8230,end surface coast,CONTROL_FINISHED_OK
$STATE,8230,begin surface
$SM_CCo,8257,227.32,0.588,0,0,398,618.39
$SM_GC,1.23,0.00,0.00,227.32,0.000,0.000,0.588,38,2696,398,-8.87,1.58,618.39
$IRIDIUM_FIX,2241.69,-15802.37,120600,232316
$TT8_MAMPS,0.023777
$HUMID,1914
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.7,132.474
$10V_AH,10.6,79.608
$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,21.750,81.525,268.800,227.325,0.000,146.399,197.505,1768.297,0.500,0.000,0.000,14.803,833.365,5556.933,577.557,1536.838,2532.338,33.378,1194.738,0.000,1532.276,0.000,0.544,0.000
$DEVICE_MAMPS,247.741,82.069,1061.528,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,273.878,672.331,692.308,164.781,674.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35024,405
$CAP_FILE_SIZE,82793,0
$CFSIZE,260165632,221196288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,200311,012854,2248.090,-15802.212,34,1.5,39,10.1