version: 66.04
glider: 512
mission: 2
dive: 142
start: 8 28 111 8 57 12
data:
$ID,512
$MISSION,2
$DIVE,142
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,-35385.301
$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,2430
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$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,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
$GPS1,084532,2236.965,-15746.002,13,1.1,13,10.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-79.1
$GPS2,085613,2236.908,-15746.089,10,1.1,15,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.022
$KALMAN_X,-30083.2,1301.8,445.8,44571.8,-1307.0
$KALMAN_Y,-74702.7,-1084.4,-57.5,138189.9,-274.0
$MHEAD_RNG_PITCHd_Wd,75.0,82070,-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,-68.05,0.000,2,0.000,0.000,40,2484,3219
$GC,95,-0.78,-136.3,3.7,-6.6,9,120,8.25,2.05,-9.88,0.000,4,0.202,0.035,2300,1044,3808
$GC,195,-0.78,-136.3,38.5,-13.6,21,199,0.00,2.08,0.00,0.000,6,0.000,0.037,2293,2423,3808
$GC,466,-0.78,-136.3,88.3,-15.6,46,470,0.00,2.17,0.00,0.000,4,0.000,0.048,2284,3844,3809
$GC,537,-0.78,-136.3,97.5,-9.4,52,540,0.00,1.98,0.00,0.000,6,0.000,0.021,2284,2445,3809
$GC,808,-0.78,-136.3,130.3,-12.6,77,812,0.00,2.17,0.00,0.000,4,0.000,0.047,2275,3846,3809
$GC,836,-0.78,-136.3,133.8,-12.4,79,840,0.00,2.00,0.00,0.000,6,0.000,0.021,2274,2421,3809
$GC,1106,-0.78,-136.3,168.6,-12.8,104,1110,0.00,2.20,0.00,0.000,4,0.000,0.047,2263,3842,3809
$GC,1157,-0.78,-136.3,174.5,-11.4,108,1161,0.12,2.00,0.00,0.000,6,0.115,0.021,2302,2423,3809
$GC,1433,-0.78,-136.3,195.5,-7.6,133,1436,0.00,2.20,0.00,0.000,4,0.000,0.047,2293,3843,3809
$GC,1463,-0.78,-136.3,198.2,-7.5,135,1471,0.00,2.03,0.00,0.000,6,0.000,0.021,2293,2425,3809
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1489,begin apogee
$GC,1500,-0.27,0.0,200.2,6.7,138,1612,0.50,0.00,104.00,0.686,6,0.084,0.000,2471,2425,3249
$STATE,1612,end apogee,CONTROL_FINISHED_OK
$STATE,1613,begin climb
$GC,1618,0.78,136.3,207.0,0.0,141,1734,0.82,2.05,107.85,0.678,4,0.031,0.021,2820,1067,2692
$GC,1991,1.12,415.1,231.6,-3.8,149,2229,0.25,2.10,221.70,0.700,6,0.065,0.031,2914,2484,1555
$GC,2485,1.12,415.1,56.0,44.0,182,2489,0.00,2.05,0.00,0.000,4,0.000,0.025,2925,1069,1551
$GC,2582,1.12,415.1,18.4,36.9,193,2590,0.00,2.10,0.00,0.000,6,0.000,0.031,2917,2462,1550
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,0.4,1.023265
$STATE,2624,end surface coast,CONTROL_FINISHED_OK
$STATE,2625,begin surface
$SM_CCo,2710,0.00,0.000,0,0,1545,418.23
$SM_GC,1.21,7.25,0.00,0.00,0.030,0.000,0.000,40,2471,1545,-7.78,1.16,418.23
$IRIDIUM_FIX,2227.67,-15749.38,211100,080811
$TT8_MAMPS,0.02301
$HUMID,2234
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,25.0,17.743
$10V_AH,10.9,13.232
$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,17.200,29.175,433.550,0.000,0.000,30.729,34.615,436.290,1.750,0.000,0.000,15.270,398.813,1018.590,406.214,824.900,713.638,33.317,780.670,0.000,826.529,0.000,0.545,0.000
$DEVICE_MAMPS,202.488,47.554,700.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,132.946,420.580,430.845,88.150,399.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16209,200
$CAP_FILE_SIZE,37564,0
$CFSIZE,260165632,211210240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,280811,094334,2236.727,-15745.935,10,2.6,29,10.0