version: 66.04
glider: 512
mission: 2
dive: 110
start: 8 27 111 1 33 13
data:
$ID,512
$MISSION,2
$DIVE,110
$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,-34652.012
$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,2490
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,34
$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
$GPS1,005731,2234.304,-15746.524,15,1.3,15,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.7
$GPS2,013213,2234.519,-15746.609,10,1.1,16,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp2
$TGT_LATLONG,2300.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.252
$KALMAN_X,-4818.6,-91.6,-414.6,20675.9,45.4
$KALMAN_Y,-73800.4,1278.3,-395.7,130833.9,151.7
$MHEAD_RNG_PITCHd_Wd,351.3,47270,-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,13,begin dive
$GC,19,-0.78,-136.1,0.0,0.0,0,96,0.00,0.00,-75.55,0.000,2,0.000,0.000,41,2456,3406
$GC,102,-0.78,-136.3,4.4,-8.5,10,120,8.20,2.17,-3.67,0.000,4,0.205,0.048,2264,3909,3627
$GC,201,-0.78,-136.3,44.8,-20.7,22,205,0.00,2.03,0.00,0.000,6,0.000,0.021,2264,2493,3627
$GC,473,-0.78,-136.3,101.2,-19.4,47,476,0.00,2.03,0.00,0.000,4,0.000,0.025,2264,1072,3628
$GC,576,-0.78,-136.3,117.6,-13.0,56,580,0.00,2.10,0.00,0.000,6,0.000,0.036,2254,2485,3628
$GC,847,-0.78,-136.3,164.8,-16.8,81,851,0.00,2.12,0.00,0.000,4,0.000,0.045,2243,3894,3628
$GC,917,-0.78,-136.3,175.7,-12.7,87,922,0.12,2.03,0.00,0.000,6,0.128,0.021,2279,2474,3628
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1140,-0.27,0.0,200.7,11.7,107,1250,0.47,0.00,103.03,0.668,6,0.107,0.000,2439,2466,3069
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1257,0.78,136.3,207.1,0.0,110,1374,0.85,2.22,108.55,0.663,4,0.030,0.038,2793,3870,2512
$GC,1633,0.78,136.3,187.9,12.4,123,1637,0.00,2.03,0.00,0.000,6,0.000,0.019,2803,2441,2507
$GC,1905,0.80,153.4,162.6,9.2,148,1928,0.00,2.25,13.77,0.605,4,0.000,0.037,2794,3893,2443
$GC,2172,0.80,153.4,130.4,12.4,171,2179,0.00,2.05,0.00,0.000,6,0.000,0.020,2803,2471,2441
$GC,2437,0.83,179.6,105.5,8.8,196,2463,0.00,2.20,21.30,0.603,4,0.000,0.036,2803,3879,2337
$GC,2549,0.83,179.6,92.9,13.1,205,2556,0.00,2.05,0.00,0.000,6,0.000,0.020,2814,2460,2335
$GC,2815,0.91,241.3,66.8,7.0,230,2870,0.00,2.08,48.88,0.596,4,0.000,0.025,2825,1060,2085
$GC,3068,0.91,241.3,31.3,18.0,252,3072,0.00,2.10,0.00,0.000,6,0.000,0.031,2822,2476,2079
$STATE,3210,end climb,SURFACE_DEPTH_REACHED
$STATE,3211,begin surface coast
$FINISH,0.3,1.003780
$STATE,3232,end surface coast,CONTROL_FINISHED_OK
$STATE,3232,begin surface
$SM_CCo,3257,73.45,0.554,0,0,1397,410.13
$SM_GC,1.07,0.00,0.00,73.45,0.000,0.000,0.554,41,2478,1397,-7.78,-0.34,410.13
$IRIDIUM_FIX,2227.67,-15744.17,201100,010126
$TT8_MAMPS,0.023777
$HUMID,2141
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.90
$XPDR_PINGS,8
$24V_AH,25.1,14.507
$10V_AH,10.9,11.208
$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,16.750,29.450,295.525,73.450,0.000,139.868,182.412,1353.343,2.000,0.000,0.000,16.283,535.534,1469.752,380.446,1116.429,1927.449,33.323,783.634,0.000,1115.315,0.000,0.548,0.000
$DEVICE_MAMPS,204.789,47.554,668.057,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,188.152,613.731,630.179,131.699,605.169,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22509,281
$CAP_FILE_SIZE,54967,0
$CFSIZE,260165632,212058112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,270811,022944,2234.985,-15746.624,13,1.6,13,10.0