version: 66.04
glider: 512
mission: 2
dive: 117
start: 8 27 111 8 51 2
data:
$ID,512
$MISSION,2
$DIVE,117
$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,110
$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,662.54449
$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,-34792.262
$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,2450
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$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,3100
$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
$GPS1,083007,2236.417,-15745.990,34,1.4,34,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-80.0
$GPS2,085010,2236.345,-15746.103,11,2.5,30,10.0
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,0.176
$KALMAN_X,-7791.4,1172.7,165.8,22673.5,-681.4
$KALMAN_Y,-75841.5,222.1,-84.6,137006.7,-770.8
$MHEAD_RNG_PITCHd_Wd,28.9,82638,-20.9,-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,-0.83,-107.1,0.0,0.0,0,96,0.00,0.00,-75.47,0.000,2,0.000,0.000,45,2447,3400
$GC,102,-0.83,-107.1,4.5,-9.2,10,119,8.00,2.12,-2.28,0.000,4,0.201,0.050,2233,3874,3536
$GC,191,-0.83,-107.1,47.6,-29.6,20,199,0.00,2.08,0.00,0.000,6,0.000,0.022,2232,2466,3537
$GC,457,-0.83,-107.1,114.0,-22.8,45,461,0.00,2.05,0.00,0.000,4,0.000,0.025,2233,1030,3538
$GC,520,-0.83,-107.1,127.1,-17.5,50,528,0.00,2.15,0.00,0.000,6,0.000,0.035,2224,2450,3538
$GC,784,-0.83,-107.1,176.7,-18.0,75,788,0.00,2.12,0.00,0.000,4,0.000,0.044,2212,3858,3539
$GC,822,-0.83,-107.1,183.3,-18.2,78,827,0.12,2.03,0.00,0.000,6,0.136,0.021,2248,2429,3538
$STATE,939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,950,-0.27,0.0,200.8,13.9,89,1034,0.52,0.00,81.18,0.666,6,0.132,0.000,2422,2419,3099
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1040,0.83,107.1,203.9,0.0,91,1132,0.93,2.28,85.43,0.663,4,0.030,0.035,2793,3876,2663
$GC,1242,1.03,273.5,217.1,-0.5,96,1384,0.12,2.05,132.90,0.670,6,0.083,0.018,2852,2429,1984
$GC,1650,1.03,273.5,111.9,31.8,123,1654,0.00,1.92,0.00,0.000,4,0.000,0.025,2862,1087,1978
$GC,1908,1.03,273.5,43.7,21.4,146,1912,0.00,2.05,0.00,0.000,6,0.000,0.032,2862,2473,1976
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2073,begin surface coast
$FINISH,0.3,1.023269
$STATE,2091,end surface coast,CONTROL_FINISHED_OK
$STATE,2091,begin surface
$SM_CCo,2115,180.75,0.549,0,0,398,662.54
$SM_GC,1.04,0.00,0.00,180.75,0.000,0.000,0.549,42,2475,398,-7.71,0.71,662.54
$IRIDIUM_FIX,2227.67,-15749.38,201100,080800
$TT8_MAMPS,0.02301
$HUMID,2110
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,23.80
$XPDR_PINGS,9
$24V_AH,25.1,15.146
$10V_AH,11.0,11.672
$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,16.725,20.850,299.500,180.750,0.000,150.077,378.978,237.039,2.250,0.000,0.000,31.659,353.852,940.733,486.128,727.216,1000.536,33.328,781.699,0.000,713.779,0.000,0.548,0.000
$DEVICE_MAMPS,200.954,49.855,669.591,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,116.104,371.082,382.435,85.099,385.975,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,13058,174
$CAP_FILE_SIZE,32693,0
$CFSIZE,260165632,211881984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270811,093019,2236.240,-15746.124,7,1.8,12,10.0