version: 66.04
glider: 512
mission: 1
dive: 899
start: 3 8 111 8 17 7
data:
$ID,512
$MISSION,1
$DIVE,899
$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,208
$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,350
$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,-25317.154
$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,77
$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,3040
$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
$GPS1,080957,2252.322,-15755.740,26,2.1,46,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.9
$GPS2,081614,2252.365,-15755.747,13,2.0,13,10.1
$SPEED_LIMITS,0.167,0.256
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.111,-0.231
$KALMAN_X,-374063.9,333.3,193.8,399812.7,-2972.3
$KALMAN_Y,-657318.6,764.8,829.0,789235.8,-1597.8
$MHEAD_RNG_PITCHd_Wd,144.3,10535,-16.9,-9.615
$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,17,-0.85,-146.0,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,2,0.000,0.000,33,2588,2754
$GC,70,-0.85,-146.0,3.1,-3.8,6,110,11.23,2.00,-18.62,0.000,4,0.236,0.041,2599,1273,3639
$GC,173,-0.85,-146.0,25.7,-17.1,22,182,0.00,2.33,0.00,0.000,6,0.000,0.071,2590,2635,3640
$GC,448,-0.85,-146.0,95.4,-26.5,49,452,0.00,2.10,0.00,0.000,4,0.000,0.069,2580,3905,3641
$GC,488,-0.85,-146.0,106.7,-23.9,52,497,0.00,1.85,0.00,0.000,6,0.000,0.024,2587,2668,3641
$GC,753,-0.85,-146.0,159.1,-19.7,77,757,0.00,2.10,0.00,0.000,4,0.000,0.027,2598,1232,3643
$GC,838,-0.85,-146.0,173.1,-12.2,84,847,0.00,2.38,0.00,0.000,6,0.000,0.064,2589,2637,3643
$GC,1129,-0.85,-146.0,222.0,-16.7,103,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2636,3644
$GC,1372,-0.85,-146.0,262.3,-16.3,109,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2637,3645
$GC,1615,-0.85,-146.0,296.3,-13.6,115,1619,0.00,2.08,0.00,0.000,4,0.000,0.032,2598,1233,3645
$GC,1639,-0.85,-146.0,299.6,-12.9,115,1643,0.00,2.30,0.00,0.000,6,0.000,0.055,2589,2657,3645
$GC,1907,-0.85,-146.0,330.9,-11.5,122,1911,0.00,2.05,0.00,0.000,4,0.000,0.066,2579,3903,3645
$GC,1954,-0.85,-146.0,336.2,-10.1,123,1958,0.00,1.88,0.00,0.000,6,0.000,0.025,2586,2619,3645
$GC,2246,-0.85,-146.0,373.3,-13.5,130,2250,0.00,2.03,0.00,0.000,4,0.000,0.027,2597,1240,3645
$GC,2281,-0.85,-146.0,377.7,-11.7,130,2286,0.00,2.28,0.00,0.000,6,0.000,0.055,2590,2641,3645
$GC,2534,-0.85,-146.0,402.8,-9.8,136,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2642,3643
$GC,2777,-0.85,-146.0,426.4,-10.2,142,2781,0.00,2.10,0.00,0.000,4,0.000,0.071,2580,3896,3641
$GC,2813,-0.85,-146.0,430.4,-10.6,142,2816,0.00,1.85,0.00,0.000,6,0.000,0.026,2586,2639,3641
$GC,3072,-0.85,-146.0,455.3,-9.5,149,3076,0.00,2.08,0.00,0.000,4,0.000,0.028,2597,1233,3638
$GC,3120,-0.85,-146.0,459.2,-6.4,150,3124,0.00,2.30,0.00,0.000,6,0.000,0.054,2589,2650,3639
$GC,3406,-0.85,-146.0,484.1,-9.3,157,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2651,3637
$GC,3649,-0.85,-146.0,508.3,-10.1,163,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2651,3636
$GC,3895,-0.85,-146.0,529.8,-8.5,169,3898,0.00,2.12,0.00,0.000,4,0.000,0.029,2598,1230,3633
$GC,3930,-0.85,-146.0,532.8,-8.0,169,3934,0.00,2.28,0.00,0.000,6,0.000,0.051,2589,2651,3633
$GC,4191,-0.85,-146.0,554.1,-8.6,176,4194,0.00,2.03,0.00,0.000,4,0.000,0.064,2580,3894,3632
$GC,4227,-0.85,-146.0,557.9,-9.9,176,4231,0.00,1.88,0.00,0.000,6,0.000,0.028,2588,2631,3631
$GC,4486,-0.85,-146.0,582.0,-9.7,183,4490,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,1240,3629
$GC,4522,-0.85,-146.0,585.6,-8.8,183,4526,0.00,2.30,0.00,0.000,6,0.000,0.058,2590,2639,3629
$STATE,4693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4705,-0.32,0.0,601.9,9.5,188,4832,0.62,0.00,123.55,1.073,6,0.143,0.000,2772,2486,3040
$STATE,4832,end apogee,CONTROL_FINISHED_OK
$STATE,4832,begin climb
$GC,4837,0.85,146.0,608.2,0.0,191,4984,1.10,2.38,132.15,1.042,4,0.071,0.058,3150,3867,2443
$GC,5153,0.85,146.0,576.3,24.2,198,5157,0.00,2.15,0.00,0.000,6,0.000,0.027,3159,2442,2435
$GC,5432,0.85,146.0,515.5,21.3,205,5436,0.00,2.08,0.00,0.000,4,0.000,0.028,3170,1041,2432
$GC,5474,0.85,146.0,507.0,20.8,205,5481,0.00,2.28,0.00,0.000,6,0.000,0.044,3162,2457,2431
$GC,5726,0.85,146.0,457.6,19.2,212,5730,0.00,2.30,0.00,0.000,4,0.000,0.054,3162,3880,2430
$GC,5738,0.85,146.0,454.7,19.3,212,5742,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2459,2429
$GC,6017,0.85,146.0,401.1,18.7,219,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2452,2427
$GC,6262,0.85,146.0,357.1,18.1,225,6265,0.00,2.12,0.00,0.000,4,0.000,0.031,3182,1038,2426
$GC,6274,0.85,146.0,354.7,17.5,225,6279,0.00,2.28,0.00,0.000,6,0.000,0.048,3176,2466,2426
$GC,6549,0.85,146.0,313.3,14.3,232,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2467,2425
$GC,6792,0.85,146.0,284.0,12.1,238,6796,0.00,2.28,0.00,0.000,4,0.000,0.053,3176,3885,2424
$GC,7053,0.85,146.0,247.9,12.5,243,7057,0.00,2.15,0.00,0.000,6,0.000,0.026,3185,2445,2424
$GC,7311,0.91,191.1,225.8,7.6,250,7354,0.00,2.35,36.85,0.818,4,0.000,0.048,3176,3874,2260
$GC,7517,0.91,191.1,190.8,22.6,256,7521,0.00,2.12,0.00,0.000,6,0.000,0.026,3185,2465,2257
$GC,7789,0.91,191.1,143.7,17.8,281,7793,0.00,2.28,0.00,0.000,4,0.000,0.047,3176,3883,2254
$GC,7912,0.91,191.1,121.0,16.1,291,7919,0.00,2.17,0.00,0.000,6,0.000,0.026,3185,2457,2253
$GC,8176,0.91,191.1,85.6,13.2,316,8180,0.00,2.30,0.00,0.000,4,0.000,0.047,3176,3888,2254
$GC,8285,0.91,191.1,71.1,13.8,325,8288,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2457,2253
$GC,8555,0.91,191.1,38.5,11.6,350,8559,0.00,2.30,0.00,0.000,4,0.000,0.048,3176,3882,2253
$GC,8809,0.91,191.1,4.8,14.3,389,8817,0.00,2.15,0.00,0.000,6,0.000,0.026,3185,2461,2253
$STATE,8823,end climb,SURFACE_DEPTH_REACHED
$STATE,8823,begin surface coast
$FINISH,0.5,0.999367
$STATE,8846,end surface coast,CONTROL_FINISHED_OK
$STATE,8846,begin surface
$SM_CCo,8872,87.53,0.592,0,0,1612,350.04
$SM_GC,1.40,0.00,0.00,87.53,0.000,0.000,0.592,48,2681,1612,-8.85,1.16,350.04
$IRIDIUM_FIX,2244.02,-15754.11,010600,050512
$TT8_MAMPS,0.023777
$HUMID,1876
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,117.895
$10V_AH,10.6,69.747
$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,21.800,86.850,292.550,87.525,0.000,29.049,39.635,148.448,0.250,0.000,0.000,14.073,832.531,6016.067,436.581,1463.528,592.511,33.376,1045.939,0.000,1459.499,0.000,0.542,0.000
$DEVICE_MAMPS,236.236,71.331,1073.033,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,267.506,611.356,629.688,146.416,601.275,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,32045,395
$CAP_FILE_SIZE,73464,0
$CFSIZE,260165632,225722368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,080311,104747,2251.406,-15755.157,12,3.1,32,10.1