version: 66.04
glider: 512
mission: 2
dive: 120
start: 8 27 111 11 20 53
data:
$ID,512
$MISSION,2
$DIVE,120
$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,-34890.641
$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,2420
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$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,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
$GPS1,110928,2236.107,-15746.403,10,6.1,29,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-80.5
$GPS2,112000,2236.077,-15746.550,43,1.3,48,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.136
$KALMAN_X,-9781.8,1082.1,-430.1,24579.5,-1440.5
$KALMAN_Y,-76992.6,-655.2,-551.3,139003.7,-912.4
$MHEAD_RNG_PITCHd_Wd,47.3,83549,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.78,-136.3,0.0,0.0,0,102,0.00,0.00,-75.43,0.000,2,0.000,0.000,40,2471,3431
$GC,107,-0.78,-136.3,4.5,-8.8,10,125,8.02,2.05,-3.65,0.000,4,0.201,0.051,2244,3834,3656
$GC,147,-0.78,-136.3,28.4,-62.2,15,155,0.00,2.05,0.00,0.000,6,0.000,0.025,2245,2441,3657
$GC,412,-0.78,-136.3,98.3,-21.8,40,415,0.00,2.05,0.00,0.000,4,0.000,0.026,2245,1011,3657
$GC,441,-0.78,-136.3,105.1,-21.1,42,450,0.00,2.12,0.00,0.000,6,0.000,0.035,2237,2410,3658
$GC,707,-0.78,-136.3,154.2,-18.4,67,711,0.00,2.15,0.00,0.000,4,0.000,0.044,2226,3833,3658
$GC,791,-0.78,-136.3,167.9,-14.8,74,795,0.12,2.03,0.00,0.000,6,0.124,0.021,2262,2413,3659
$STATE,1035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1035,begin apogee
$GC,1047,-0.27,0.0,200.0,13.0,97,1156,0.47,0.00,103.28,0.675,6,0.146,0.000,2423,2473,3099
$STATE,1157,end apogee,CONTROL_FINISHED_OK
$STATE,1157,begin climb
$GC,1162,0.78,136.3,207.0,0.0,100,1279,0.88,2.20,108.65,0.667,4,0.045,0.038,2767,3861,2543
$GC,1537,0.78,136.3,189.7,10.7,113,1540,0.00,2.03,0.00,0.000,6,0.000,0.021,2777,2440,2538
$GC,1808,0.87,212.4,169.8,6.3,138,1873,0.00,2.22,60.33,0.660,4,0.000,0.038,2776,3866,2234
$GC,2088,0.87,212.4,118.5,21.5,162,2092,0.00,2.03,0.00,0.000,6,0.000,0.021,2785,2459,2228
$GC,2359,0.87,212.4,74.2,14.4,187,2363,0.00,2.15,0.00,0.000,4,0.000,0.038,2780,3876,2224
$GC,2377,0.87,212.4,71.6,14.7,188,2381,0.00,2.03,0.00,0.000,6,0.000,0.021,2789,2470,2224
$GC,2649,0.88,219.3,43.1,9.8,213,2663,0.00,2.15,5.10,0.448,4,0.000,0.038,2789,3862,2207
$GC,2813,0.88,219.3,24.8,12.3,231,2821,0.00,2.05,0.00,0.000,6,0.000,0.021,2799,2440,2206
$STATE,2997,end climb,SURFACE_DEPTH_REACHED
$STATE,2997,begin surface coast
$FINISH,0.3,1.022976
$STATE,3020,end surface coast,CONTROL_FINISHED_OK
$STATE,3020,begin surface
$SM_CCo,3044,82.28,0.545,0,0,1427,410.13
$SM_GC,1.20,0.00,0.00,82.28,0.000,0.000,0.545,39,2433,1427,-7.72,0.37,410.13
$IRIDIUM_FIX,2227.67,-15744.17,201100,111125
$TT8_MAMPS,0.023777
$HUMID,2130
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.80
$XPDR_PINGS,7
$24V_AH,25.1,15.397
$10V_AH,10.9,11.861
$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,16.450,29.375,277.350,82.275,0.000,60.156,69.015,264.738,1.750,0.000,0.000,48.805,507.403,1188.478,377.616,1071.965,624.916,33.319,753.596,0.000,1042.864,0.000,0.546,0.000
$DEVICE_MAMPS,200.954,76.700,674.960,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,179.643,584.682,600.714,132.786,608.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22573,268
$CAP_FILE_SIZE,40394,0
$CFSIZE,260165632,211800064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,270811,121401,2236.125,-15746.693,9,1.8,14,10.0