version: 66.04
glider: 512
mission: 2
dive: 313
start: 9 5 111 8 35 21
data:
$ID,512
$MISSION,2
$DIVE,313
$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,-39175.637
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2760
$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
$GPS1,082236,2257.467,-15812.953,38,0.9,43,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.8
$GPS2,083426,2257.505,-15813.062,16,1.1,16,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.138
$KALMAN_X,-219746.7,389.8,-255.4,189557.7,-1108.8
$KALMAN_Y,7211.2,339.4,-719.7,93661.7,535.5
$MHEAD_RNG_PITCHd_Wd,113.0,116123,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,23,-0.78,-136.3,0.0,0.0,0,131,0.00,0.00,-105.57,0.000,2,0.000,0.000,37,2507,3252
$GC,137,-0.78,-136.3,3.7,-6.2,14,154,8.20,2.05,-1.17,0.000,4,0.201,0.032,2281,1087,3317
$GC,197,-0.78,-136.3,24.8,-19.8,23,205,0.00,2.17,0.00,0.000,6,0.000,0.037,2272,2496,3317
$GC,467,-0.78,-136.3,73.3,-16.8,50,470,0.00,2.12,0.00,0.000,4,0.000,0.043,2262,3908,3317
$GC,517,-0.78,-136.3,82.5,-15.3,54,525,0.00,2.03,0.00,0.000,6,0.000,0.020,2261,2512,3317
$GC,783,-0.78,-136.3,125.6,-15.5,79,787,0.00,2.12,0.00,0.000,4,0.000,0.042,2250,3899,3317
$GC,821,-0.78,-136.3,131.6,-16.3,82,825,0.00,2.00,0.00,0.000,6,0.000,0.020,2251,2493,3317
$GC,1091,-0.78,-136.3,167.3,-12.3,107,1095,0.00,2.15,0.00,0.000,4,0.000,0.043,2240,3901,3317
$GC,1119,-0.78,-136.3,170.6,-11.8,109,1124,0.12,2.03,0.00,0.000,6,0.134,0.019,2275,2478,3317
$GC,1395,-0.78,-136.3,197.5,-9.4,134,1399,0.00,1.95,0.00,0.000,4,0.000,0.022,2275,1096,3317
$GC,1411,-0.78,-136.3,199.5,-9.3,135,1414,0.00,2.10,0.00,0.000,6,0.000,0.035,2275,2505,3317
$STATE,1422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1433,-0.27,0.0,200.8,9.0,136,1543,0.50,0.00,106.07,0.700,6,0.136,0.000,2440,2506,2760
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1550,0.78,136.3,205.3,0.0,139,1668,0.85,2.15,111.53,0.685,4,0.028,0.021,2807,1071,2203
$GC,1699,0.78,136.3,195.9,18.2,141,1703,0.00,2.15,0.00,0.000,6,0.000,0.028,2807,2494,2200
$GC,1968,0.78,136.3,146.3,16.4,165,1971,0.00,2.03,0.00,0.000,4,0.000,0.021,2818,1077,2197
$GC,2018,0.78,136.3,137.3,17.2,169,2022,0.15,2.08,0.00,0.000,6,0.195,0.028,2783,2494,2196
$GC,2288,0.78,136.3,93.6,14.2,193,2291,0.00,2.03,0.00,0.000,4,0.000,0.021,2792,1071,2195
$GC,2547,0.85,191.5,65.4,7.3,216,2599,0.00,2.05,43.17,0.610,6,0.000,0.028,2792,2478,1978
$GC,2861,0.85,191.5,22.4,16.9,247,2869,0.00,2.03,0.00,0.000,4,0.000,0.024,2802,1086,1972
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.6,1.023329
$STATE,2994,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3025,94.00,0.563,0,0,1087,410.13
$SM_GC,0.98,0.00,0.00,94.00,0.000,0.000,0.563,36,2506,1087,-7.80,0.17,410.13
$IRIDIUM_FIX,2251.04,-15811.05,291100,070732
$TT8_MAMPS,0.02301
$HUMID,2162
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.60
$XPDR_PINGS,17
$24V_AH,25.0,33.975
$10V_AH,10.9,26.606
$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,16.925,37.375,260.775,94.000,0.000,31.310,36.416,482.528,4.250,0.000,0.000,16.728,509.286,1103.175,395.564,1013.732,817.339,33.334,768.780,0.000,1021.912,0.000,0.550,0.000
$DEVICE_MAMPS,200.954,42.952,700.271,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,181.122,598.415,615.101,140.609,636.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22596,271
$CAP_FILE_SIZE,41998,0
$CFSIZE,260165632,205783040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,050911,092825,2257.435,-15813.127,11,1.4,16,10.1