version: 66.04
glider: 512
mission: 2
dive: 165
start: 8 29 111 12 20 9
data:
$ID,512
$MISSION,2
$DIVE,165
$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,-35841.68
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2570
$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,68
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2940
$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
$GPS1,120801,2238.109,-15747.843,43,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,2
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.8
$GPS2,121914,2238.119,-15748.041,12,1.9,12,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.039
$KALMAN_X,-52624.0,79.6,-275.3,65721.4,-1252.5
$KALMAN_Y,-71642.0,-103.7,-434.5,136772.9,-297.8
$MHEAD_RNG_PITCHd_Wd,71.1,83823,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-75.47,0.000,2,0.000,0.000,39,2471,3239
$GC,102,-0.78,-136.3,3.7,-6.8,10,120,8.30,2.10,-4.53,0.000,4,0.203,0.050,2300,3847,3497
$GC,163,-0.78,-136.3,31.5,-37.1,19,172,0.00,2.05,0.00,0.000,6,0.000,0.021,2304,2449,3498
$GC,429,-0.78,-136.3,77.0,-15.2,44,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2442,3500
$GC,695,-0.78,-136.3,112.8,-12.4,69,699,0.00,2.12,0.00,0.000,4,0.000,0.044,2294,3826,3500
$GC,769,-0.78,-136.3,121.1,-10.1,75,773,0.00,2.00,0.00,0.000,6,0.000,0.020,2294,2409,3500
$GC,1040,-0.78,-136.3,152.8,-11.6,100,1044,0.00,2.20,0.00,0.000,4,0.000,0.045,2288,3834,3500
$GC,1080,-0.78,-136.3,157.6,-11.0,103,1088,0.08,2.03,0.00,0.000,6,0.111,0.021,2318,2424,3500
$GC,1350,-0.78,-136.3,177.8,-7.3,128,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2416,3500
$GC,1615,-0.78,-136.3,195.5,-6.3,153,1618,0.00,2.17,0.00,0.000,4,0.000,0.045,2309,3834,3499
$GC,1652,-0.78,-136.3,198.0,-6.7,156,1656,0.00,1.98,0.00,0.000,6,0.000,0.021,2309,2432,3499
$STATE,1684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1684,begin apogee
$GC,1695,-0.27,0.0,200.3,6.5,159,1806,0.50,0.00,104.75,0.705,6,0.091,0.000,2481,2424,2938
$STATE,1806,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1811,0.78,136.3,205.4,0.0,162,1929,0.85,2.28,110.40,0.689,4,0.031,0.035,2836,3869,2385
$GC,2184,0.78,136.3,162.0,17.4,180,2192,0.00,2.05,0.00,0.000,6,0.000,0.020,2845,2461,2378
$GC,2449,0.78,136.3,119.9,15.8,205,2453,0.00,2.12,0.00,0.000,4,0.000,0.039,2845,3866,2375
$GC,2709,0.78,136.3,83.5,11.6,228,2713,0.15,2.00,0.00,0.000,6,0.226,0.020,2823,2450,2375
$GC,2981,0.96,283.8,64.5,2.7,252,3101,0.15,2.28,113.97,0.619,4,0.075,0.037,2875,3869,1783
$STATE,3261,end climb,SURFACE_DEPTH_REACHED
$STATE,3261,begin surface coast
$FINISH,0.8,1.023240
$STATE,3268,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3295,50.85,0.565,0,0,1267,410.13
$SM_GC,0.81,0.00,0.00,50.85,0.000,0.000,0.565,42,2413,1267,-7.90,-0.48,410.13
$IRIDIUM_FIX,2230.01,-15746.34,221100,111137
$TT8_MAMPS,0.02301
$HUMID,2186
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,23.70
$XPDR_PINGS,10
$24V_AH,25.0,20.074
$10V_AH,10.9,15.092
$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,17.300,29.500,329.125,50.850,0.000,23.484,47.644,448.431,2.500,0.000,0.000,12.375,527.444,1273.006,379.904,1082.293,764.338,33.350,786.689,0.000,1091.148,0.000,0.547,0.000
$DEVICE_MAMPS,226.265,49.855,704.873,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,190.511,629.734,646.210,131.976,608.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22621,285
$CAP_FILE_SIZE,42652,0
$CFSIZE,260165632,210448384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,290811,131716,2238.167,-15748.274,13,2.4,32,10.1