version: 66.04
glider: 512
mission: 2
dive: 205
start: 8 31 111 12 55 3
data:
$ID,512
$MISSION,2
$DIVE,205
$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,-36844.184
$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,2490
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,124606,2248.599,-15757.776,14,1.3,30,10.1
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.3
$GPS2,125408,2248.613,-15757.841,11,1.3,17,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.089
$KALMAN_X,-105384.5,667.4,407.4,100379.6,-1514.7
$KALMAN_Y,-44563.8,130.6,-65.5,128520.9,218.4
$MHEAD_RNG_PITCHd_Wd,100.6,92518,-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,18,-0.78,-136.3,0.0,0.0,0,96,0.00,0.00,-75.55,0.000,2,0.000,0.000,41,2504,3168
$GC,103,-0.78,-136.3,3.2,-5.0,10,120,8.57,0.00,-5.30,0.000,6,0.212,0.000,2308,2504,3460
$GC,386,-0.78,-136.3,69.1,-17.4,41,389,0.00,2.10,0.00,0.000,4,0.000,0.044,2299,3883,3461
$GC,427,-0.78,-136.3,76.5,-13.3,44,435,0.00,2.03,0.00,0.000,6,0.000,0.020,2299,2482,3461
$GC,694,-0.78,-136.3,108.8,-11.5,69,697,0.00,1.98,0.00,0.000,4,0.000,0.024,2299,1092,3462
$GC,745,-0.78,-136.3,113.8,-8.9,73,749,0.00,2.05,0.00,0.000,6,0.000,0.035,2293,2477,3462
$GC,1015,-0.78,-136.3,144.2,-11.8,98,1018,0.00,2.15,0.00,0.000,4,0.000,0.045,2282,3899,3462
$GC,1066,-0.78,-136.3,150.6,-11.4,102,1075,0.10,2.05,0.00,0.000,6,0.109,0.019,2321,2480,3463
$GC,1337,-0.78,-136.3,171.5,-8.5,127,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2474,3463
$GC,1603,-0.78,-136.3,194.1,-7.7,152,1606,0.00,2.17,0.00,0.000,4,0.000,0.045,2313,3894,3463
$GC,1633,-0.78,-136.3,196.7,-7.8,154,1640,0.00,2.03,0.00,0.000,6,0.000,0.021,2313,2482,3463
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1691,-0.27,0.0,200.5,7.7,159,1801,0.50,0.00,105.28,0.690,6,0.088,0.000,2486,2482,2899
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1808,0.78,136.3,205.5,0.0,162,1925,0.85,2.22,110.10,0.680,4,0.030,0.035,2849,3904,2343
$GC,2179,0.78,136.3,149.9,24.8,183,2188,0.12,2.05,0.00,0.000,6,0.219,0.021,2827,2493,2337
$GC,2443,0.78,136.3,105.9,13.6,208,2446,0.00,2.15,0.00,0.000,4,0.000,0.035,2822,3911,2334
$GC,2549,0.78,136.3,90.3,15.0,217,2553,0.00,2.05,0.00,0.000,6,0.000,0.020,2831,2474,2334
$GC,2821,0.93,260.3,68.2,3.9,242,2924,0.12,2.05,95.32,0.611,4,0.081,0.022,2891,1073,1841
$GC,3120,0.93,260.3,7.8,27.0,275,3128,0.00,2.12,0.00,0.000,6,0.000,0.029,2888,2484,1835
$STATE,3134,end climb,SURFACE_DEPTH_REACHED
$STATE,3134,begin surface coast
$FINISH,0.3,1.011421
$STATE,3146,end surface coast,CONTROL_FINISHED_OK
$STATE,3147,begin surface
$SM_CCo,3171,61.88,0.555,0,0,1226,410.13
$SM_GC,1.11,0.00,0.00,61.88,0.000,0.000,0.555,38,2486,1226,-7.91,-0.11,410.13
$IRIDIUM_FIX,2239.35,-15759.32,241100,111152
$TT8_MAMPS,0.023777
$HUMID,2167
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,25.0,24.256
$10V_AH,10.9,18.377
$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,17.575,29.200,310.700,61.875,0.000,27.881,36.241,254.983,2.250,0.000,0.000,17.143,520.383,1195.700,381.098,1056.381,572.023,33.343,775.691,0.000,1059.314,0.000,0.547,0.000
$DEVICE_MAMPS,218.595,45.253,689.533,554.541,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,186.371,616.254,632.037,132.041,611.956,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22586,279
$CAP_FILE_SIZE,40479,0
$CFSIZE,260165632,209141760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,310811,134956,2248.469,-15757.967,11,1.5,11,10.1