version: 66.04
glider: 512
mission: 2
dive: 109
start: 8 27 111 0 15 35
data:
$ID,512
$MISSION,2
$DIVE,109
$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,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,-34635.102
$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,67
$R_STBD_OVSHOOT,32
$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
$GPS1,000536,2233.807,-15746.560,43,0.9,43,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.6
$GPS2,001437,2233.869,-15746.596,12,1.9,12,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp2
$TGT_LATLONG,2300.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,0.237
$KALMAN_X,-3957.0,-436.7,-576.8,20334.1,-292.4
$KALMAN_Y,-73663.4,1050.9,-575.0,129905.2,-96.0
$MHEAD_RNG_PITCHd_Wd,9.9,48470,-18.4,-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,14,begin dive
$GC,19,-0.78,-135.5,0.0,0.0,0,97,0.00,0.00,-75.50,0.000,2,0.000,0.000,43,2465,3392
$GC,102,-0.78,-136.3,4.4,-8.1,10,120,8.10,2.17,-3.90,0.000,4,0.208,0.049,2236,3905,3630
$GC,159,-0.78,-136.3,35.6,-50.2,17,163,0.00,2.03,0.00,0.000,6,0.000,0.023,2236,2498,3630
$GC,428,-0.78,-136.3,115.1,-23.5,42,432,0.00,2.03,0.00,0.000,4,0.000,0.025,2235,1082,3631
$GC,543,-0.78,-136.3,134.3,-13.8,52,548,0.12,2.10,0.00,0.000,6,0.125,0.037,2261,2489,3631
$GC,809,-0.78,-136.3,175.8,-16.0,76,812,0.00,2.12,0.00,0.000,4,0.000,0.045,2252,3898,3631
$GC,879,-0.78,-136.3,185.8,-12.9,82,883,0.00,2.03,0.00,0.000,6,0.000,0.021,2252,2476,3632
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,987,-0.27,0.0,200.3,15.0,91,1096,0.52,0.00,104.05,0.670,6,0.123,0.000,2423,2468,3070
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1102,0.78,136.3,209.0,0.0,94,1218,0.88,2.12,109.32,0.662,4,0.039,0.021,2787,1060,2514
$GC,1265,0.91,242.4,218.8,4.8,97,1358,0.00,2.12,85.50,0.662,6,0.000,0.029,2780,2473,2080
$GC,1615,0.91,242.4,136.8,26.5,121,1618,0.00,2.03,0.00,0.000,4,0.000,0.023,2789,1054,2073
$GC,1630,0.91,242.4,132.7,25.2,122,1634,0.00,2.08,0.00,0.000,6,0.000,0.030,2780,2465,2073
$GC,1902,0.91,242.4,73.5,16.7,147,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2466,2072
$GC,2167,0.91,242.4,32.2,16.1,172,2171,0.00,2.03,0.00,0.000,4,0.000,0.024,2789,1047,2071
$GC,2283,0.91,242.4,13.2,16.7,192,2292,0.00,2.10,0.00,0.000,6,0.000,0.032,2780,2455,2070
$STATE,2340,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,0.3,1.023251
$STATE,2358,end surface coast,CONTROL_FINISHED_OK
$STATE,2358,begin surface
$SM_CCo,2382,71.18,0.540,0,0,1397,410.13
$SM_GC,1.07,0.00,0.00,71.18,0.000,0.000,0.540,41,2455,1397,-7.72,-0.99,410.13
$IRIDIUM_FIX,2225.34,-15744.17,191100,232356
$TT8_MAMPS,0.023777
$HUMID,2128
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,25.1,14.345
$10V_AH,10.9,11.115
$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,16.550,24.950,298.875,71.175,0.000,26.529,36.595,329.700,2.000,0.000,0.000,17.235,395.059,845.410,393.039,758.497,616.719,33.313,685.830,0.000,773.024,0.000,0.546,0.000
$DEVICE_MAMPS,207.857,49.088,670.358,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,137.078,443.093,457.009,104.772,469.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16271,205
$CAP_FILE_SIZE,32521,0
$CFSIZE,260165632,212115456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,270811,005731,2234.304,-15746.524,15,1.3,15,10.0