version: 66.04
glider: 512
mission: 2
dive: 161
start: 8 29 111 6 57 14
data:
$ID,512
$MISSION,2
$DIVE,161
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,140
$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,410
$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,-35757.246
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2570
$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,2430
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$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,2960
$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
$GPS1,063434,2237.861,-15747.107,12,5.7,31,10.1
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.4
$GPS2,065614,2237.871,-15747.204,16,1.4,16,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.105
$KALMAN_X,-48345.1,159.1,323.7,62202.3,-421.3
$KALMAN_Y,-73022.8,1304.9,758.2,135086.9,-138.1
$MHEAD_RNG_PITCHd_Wd,55.4,82802,-18.3,-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,-0.78,-136.3,0.0,0.0,0,96,0.00,0.00,-75.50,0.000,2,0.000,0.000,39,2471,3248
$GC,102,-0.78,-136.3,3.4,-5.7,10,120,8.25,2.10,-4.82,0.000,4,0.198,0.048,2300,3856,3517
$GC,131,-0.78,-136.3,18.1,-38.3,13,139,0.00,2.10,0.00,0.000,6,0.000,0.021,2309,2422,3518
$GC,401,-0.78,-136.3,76.6,-16.3,40,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2415,3519
$GC,666,-0.78,-136.3,112.9,-11.4,65,670,0.00,2.17,0.00,0.000,4,0.000,0.044,2300,3834,3520
$GC,717,-0.78,-136.3,118.1,-10.1,69,720,0.00,2.00,0.00,0.000,6,0.000,0.020,2300,2416,3519
$GC,987,-0.78,-136.3,150.7,-11.9,94,991,0.00,1.95,0.00,0.000,4,0.000,0.024,2302,1034,3520
$GC,1017,-0.78,-136.3,154.4,-11.1,96,1026,0.00,2.10,0.00,0.000,6,0.000,0.035,2294,2426,3520
$GC,1284,-0.78,-136.3,182.6,-10.2,121,1288,0.00,2.15,0.00,0.000,4,0.000,0.047,2283,3842,3519
$GC,1357,-0.78,-136.3,189.2,-8.0,127,1362,0.12,2.00,0.00,0.000,6,0.116,0.020,2323,2420,3519
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1528,begin apogee
$GC,1539,-0.27,0.0,200.3,5.9,143,1649,0.45,0.00,104.20,0.704,6,0.087,0.000,2481,2478,2961
$STATE,1649,end apogee,CONTROL_FINISHED_OK
$STATE,1650,begin climb
$GC,1655,0.78,136.3,205.1,0.0,146,1774,0.88,2.15,111.10,0.697,4,0.031,0.022,2869,1062,2402
$GC,1822,0.78,136.3,207.4,15.7,149,1827,0.20,2.12,0.00,0.000,6,0.212,0.031,2824,2467,2399
$GC,2098,0.78,136.3,163.4,14.8,171,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2467,2396
$GC,2363,0.78,136.3,126.1,12.0,196,2366,0.00,2.00,0.00,0.000,4,0.000,0.023,2834,1061,2394
$GC,2523,0.78,136.3,107.0,10.3,210,2526,0.00,2.08,0.00,0.000,6,0.000,0.031,2834,2472,2393
$GC,2794,0.86,203.0,85.9,6.8,235,2849,0.00,0.00,51.95,0.634,6,0.000,0.000,2834,2472,2131
$GC,3110,0.86,203.0,40.5,16.9,264,3114,0.00,2.03,0.00,0.000,4,0.000,0.024,2844,1067,2124
$GC,3223,0.86,203.0,22.9,15.9,278,3231,0.00,2.08,0.00,0.000,6,0.000,0.031,2845,2455,2123
$STATE,3343,end climb,SURFACE_DEPTH_REACHED
$STATE,3343,begin surface coast
$FINISH,0.4,1.023340
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3390,88.10,0.571,0,0,1287,410.13
$SM_GC,0.85,0.00,0.00,88.10,0.000,0.000,0.571,40,2459,1287,-7.91,0.82,410.13
$IRIDIUM_FIX,2232.34,-15748.50,221100,060646
$TT8_MAMPS,0.02301
$HUMID,2127
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,25.0,19.581
$10V_AH,10.9,14.745
$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,17.100,29.100,267.250,88.100,0.000,56.686,69.178,952.063,2.000,0.000,0.000,16.884,554.359,1416.331,384.115,1093.797,1344.455,33.368,762.276,0.000,1103.854,0.000,0.548,0.000
$DEVICE_MAMPS,211.692,76.700,704.106,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,203.151,667.848,686.649,142.079,646.734,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25580,303
$CAP_FILE_SIZE,51438,0
$CFSIZE,260165632,210571264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,290811,075613,2238.062,-15747.002,8,1.5,13,10.1