version: 66.04
glider: 512
mission: 2
dive: 102
start: 8 26 111 17 42 9
data:
$ID,512
$MISSION,2
$DIVE,102
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1040
$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,66
$T_MISSION,140
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$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,400
$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,-34484.766
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2490
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3070
$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,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,173525,2232.322,-15745.768,15,1.2,32,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.7
$GPS2,174113,2232.335,-15745.814,16,2.0,16,10.0
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp2
$TGT_LATLONG,2300.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,0.166
$KALMAN_X,-39.1,-619.3,120.1,17253.3,-644.3
$KALMAN_Y,-71331.2,-684.4,748.7,125136.4,-633.1
$MHEAD_RNG_PITCHd_Wd,34.4,51254,-20.2,-10.101
$D_GRID,200
$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,19,-0.81,-114.1,0.0,0.0,0,89,0.00,0.00,-67.90,0.000,2,0.000,0.000,42,2458,3181
$GC,95,-0.82,-116.8,3.3,-5.3,9,120,8.12,2.17,-6.72,0.000,4,0.210,0.048,2225,3894,3550
$GC,146,-0.82,-116.8,27.4,-47.3,16,154,0.00,2.05,0.00,0.000,6,0.000,0.023,2225,2501,3550
$GC,413,-0.82,-116.8,102.3,-21.9,41,416,0.00,2.15,0.00,0.000,4,0.000,0.044,2217,3902,3550
$GC,453,-0.82,-116.8,111.9,-20.4,44,461,0.00,2.05,0.00,0.000,6,0.000,0.021,2216,2493,3550
$GC,718,-0.82,-116.8,166.3,-22.4,69,727,0.10,0.00,0.00,0.000,6,0.344,0.000,2241,2485,3551
$STATE,915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,915,begin apogee
$GC,926,-0.27,0.0,201.7,15.9,88,1019,0.55,0.00,89.60,0.670,6,0.151,0.000,2420,2485,3069
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1025,0.82,116.8,206.1,0.0,90,1127,0.90,2.20,93.62,0.666,4,0.033,0.040,2780,3861,2592
$GC,1384,0.87,159.7,199.6,7.5,98,1424,0.00,2.03,34.90,0.656,6,0.000,0.020,2790,2429,2417
$GC,1691,0.87,159.7,154.1,13.5,124,1695,0.00,2.20,0.00,0.000,4,0.000,0.038,2781,3872,2411
$GC,1955,0.87,159.7,119.1,12.1,147,1959,0.00,2.00,0.00,0.000,6,0.000,0.020,2790,2459,2411
$GC,2226,0.92,199.8,91.8,7.7,172,2265,0.00,2.17,31.30,0.607,4,0.000,0.038,2781,3873,2256
$GC,2513,0.99,261.5,59.2,6.4,197,2573,0.08,2.05,49.33,0.587,6,0.082,0.021,2829,2446,2004
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,0.5,1.023303
$STATE,2830,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2855,55.22,0.541,0,0,1438,400.08
$SM_GC,1.15,0.00,0.00,55.22,0.000,0.000,0.541,43,2439,1438,-7.71,-1.41,400.08
$IRIDIUM_FIX,2225.34,-15744.17,191100,161620
$TT8_MAMPS,0.023777
$HUMID,2133
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,25.1,13.743
$10V_AH,10.9,10.677
$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,16.825,21.075,298.750,55.225,0.000,30.963,32.634,139.196,2.000,0.000,0.000,21.144,453.341,1079.433,356.209,959.451,422.317,33.325,728.738,0.000,963.049,0.000,0.546,0.000
$DEVICE_MAMPS,344.383,48.321,669.591,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,158.790,514.994,529.247,113.643,521.478,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19291,238
$CAP_FILE_SIZE,34224,0
$CFSIZE,260165632,212295680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,260811,183158,2232.511,-15745.880,11,2.5,30,10.0