version: 66.04
glider: 512
mission: 2
dive: 135
start: 8 28 111 2 9 56
data:
$ID,512
$MISSION,2
$DIVE,135
$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,-35217.348
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2550
$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,2410
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,3250
$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
$GPS1,015207,2236.604,-15747.728,38,1.3,38,10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-80.0
$GPS2,020901,2236.692,-15747.772,12,1.3,12,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.017
$KALMAN_X,-24619.1,840.9,-922.4,38054.2,-644.0
$KALMAN_Y,-77176.8,2598.8,-219.1,136739.9,274.8
$MHEAD_RNG_PITCHd_Wd,83.8,84737,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.78,-136.3,0.0,0.0,0,89,0.00,0.00,-67.93,0.000,2,0.000,0.000,40,2430,3216
$GC,95,-0.78,-136.3,3.4,-5.8,9,120,8.23,2.08,-10.23,0.000,4,0.200,0.035,2307,982,3807
$GC,157,-0.78,-136.3,30.2,-31.4,18,165,0.00,2.17,0.00,0.000,6,0.000,0.041,2306,2392,3808
$GC,423,-0.78,-136.3,81.1,-18.3,43,427,0.00,2.17,0.00,0.000,4,0.000,0.047,2295,3821,3808
$GC,528,-0.78,-136.3,94.6,-9.1,52,531,0.00,2.05,0.00,0.000,6,0.000,0.019,2295,2373,3808
$GC,799,-0.78,-136.3,126.6,-11.8,77,803,0.00,2.25,0.00,0.000,4,0.000,0.047,2290,3827,3808
$GC,846,-0.78,-136.3,131.7,-8.4,80,854,0.00,2.05,0.00,0.000,6,0.000,0.020,2290,2401,3808
$GC,1110,-0.78,-136.3,157.2,-11.2,105,1114,0.00,2.20,0.00,0.000,4,0.000,0.048,2290,3828,3808
$GC,1160,-0.78,-136.3,161.8,-8.9,109,1164,0.00,2.00,0.00,0.000,6,0.000,0.021,2290,2404,3808
$GC,1431,-0.78,-136.3,188.1,-9.1,134,1434,0.00,2.20,0.00,0.000,4,0.000,0.048,2290,3825,3808
$GC,1472,-0.78,-136.3,191.9,-8.0,137,1479,0.00,2.03,0.00,0.000,6,0.000,0.021,2290,2405,3808
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1584,-0.27,0.0,200.5,8.7,147,1694,0.50,0.00,103.10,0.673,6,0.088,0.000,2467,2498,3249
$STATE,1695,end apogee,CONTROL_FINISHED_OK
$STATE,1695,begin climb
$GC,1700,0.78,136.3,208.1,0.0,150,1813,0.85,2.10,106.93,0.668,4,0.038,0.035,2808,3854,2693
$GC,1890,1.17,457.1,226.9,-5.9,154,2152,0.30,2.00,253.20,0.670,6,0.064,0.019,2933,2449,1386
$GC,2418,1.17,457.1,24.1,44.7,190,2426,0.00,2.17,0.00,0.000,4,0.000,0.035,2931,3860,1382
$STATE,2458,end climb,SURFACE_DEPTH_REACHED
$STATE,2458,begin surface coast
$FINISH,0.2,1.023187
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2553,0.00,0.000,0,0,1376,459.44
$SM_GC,0.97,7.35,0.00,0.00,0.034,0.000,0.000,40,2438,1376,-7.75,0.82,459.44
$IRIDIUM_FIX,2230.01,-15746.34,211100,020211
$TT8_MAMPS,0.02301
$HUMID,2214
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,22.60
$XPDR_PINGS,7
$24V_AH,25.0,16.899
$10V_AH,10.9,12.818
$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,17.225,29.700,463.225,0.000,0.000,83.618,105.681,543.769,1.750,0.000,0.000,12.340,377.197,1040.763,421.996,772.684,960.960,33.314,785.326,0.000,779.323,0.000,0.547,0.000
$DEVICE_MAMPS,200.187,73.632,673.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,131.128,422.870,436.070,87.627,399.892,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16189,198
$CAP_FILE_SIZE,40048,0
$CFSIZE,260165632,211390464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,280811,025325,2236.784,-15747.461,9,1.4,14,10.0