version: 66.04
glider: 512
mission: 2
dive: 111
start: 8 27 111 2 39 37
data:
$ID,512
$MISSION,2
$DIVE,111
$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,-34664.082
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,022944,2234.985,-15746.624,13,1.6,13,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-78.4
$GPS2,023838,2235.027,-15746.623,11,1.8,11,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp2
$TGT_LATLONG,2300.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,0.248
$KALMAN_X,-5639.2,306.8,-35.1,20695.4,-122.7
$KALMAN_Y,-74591.2,1549.8,78.6,131827.5,-65.4
$MHEAD_RNG_PITCHd_Wd,0.3,46332,-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,-135.3,0.0,0.0,0,97,0.00,0.00,-75.62,0.000,2,0.000,0.000,41,2479,3381
$GC,102,-0.78,-136.3,4.2,-7.6,10,120,8.20,2.20,-4.10,0.000,4,0.207,0.051,2264,3905,3629
$GC,148,-0.78,-136.3,29.8,-57.4,16,156,0.00,2.05,0.00,0.000,6,0.000,0.024,2263,2504,3629
$GC,414,-0.78,-136.3,95.8,-18.2,41,417,0.00,2.03,0.00,0.000,4,0.000,0.025,2264,1085,3630
$GC,518,-0.78,-136.3,109.9,-10.7,50,522,0.00,2.10,0.00,0.000,6,0.000,0.037,2253,2491,3631
$GC,789,-0.78,-136.3,152.1,-15.8,75,793,0.00,2.12,0.00,0.000,4,0.000,0.046,2242,3894,3631
$GC,882,-0.78,-136.3,166.4,-12.6,83,886,0.12,2.03,0.00,0.000,6,0.127,0.021,2278,2477,3631
$GC,1152,-0.78,-136.3,197.8,-11.0,108,1156,0.00,2.20,0.00,0.000,4,0.000,0.047,2270,3906,3630
$STATE,1166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1166,begin apogee
$GC,1179,-0.27,0.0,200.1,10.8,109,1285,0.47,0.00,103.55,0.673,6,0.101,0.000,2437,2450,3069
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1291,0.78,136.3,204.9,0.0,112,1407,0.88,2.22,109.07,0.668,4,0.038,0.037,2789,3878,2513
$GC,1444,0.92,250.6,216.3,4.4,115,1544,0.00,2.08,91.70,0.665,6,0.000,0.020,2800,2450,2047
$GC,1801,0.92,250.6,128.5,26.9,139,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2450,2041
$GC,2066,0.92,250.6,63.7,20.1,164,2070,0.00,2.00,0.00,0.000,4,0.000,0.025,2810,1060,2039
$GC,2191,0.92,250.6,42.0,16.5,175,2195,0.00,2.08,0.00,0.000,6,0.000,0.031,2809,2471,2038
$STATE,2407,end climb,SURFACE_DEPTH_REACHED
$STATE,2407,begin surface coast
$FINISH,0.3,1.009752
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2450,64.12,0.545,0,0,1397,410.13
$SM_GC,0.96,0.00,0.00,64.12,0.000,0.000,0.545,42,2473,1397,-7.78,-0.48,410.13
$IRIDIUM_FIX,2223.01,-15750.26,201100,010140
$TT8_MAMPS,0.02301
$HUMID,2149
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,25.1,14.596
$10V_AH,10.9,11.269
$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,16.700,25.200,304.325,64.125,0.000,31.156,34.770,318.484,2.500,0.000,0.000,11.441,410.445,867.038,375.992,806.060,602.719,33.315,689.939,0.000,817.345,0.000,0.548,0.000
$DEVICE_MAMPS,207.090,51.389,673.426,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,141.806,461.088,474.841,105.835,480.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19307,212
$CAP_FILE_SIZE,32947,0
$CFSIZE,260165632,212049920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270811,032232,2235.448,-15746.510,12,1.7,12,10.0