version: 66.04
glider: 512
mission: 2
dive: 167
start: 8 29 111 14 57 58
data:
$ID,512
$MISSION,2
$DIVE,167
$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,-35903.195
$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,59
$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
$GPS1,142840,2238.404,-15748.745,9,2.4,28,10.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.9
$GPS2,145700,2238.605,-15749.172,35,1.6,45,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.114
$KALMAN_X,-55397.2,-381.8,-870.3,67611.9,-1096.9
$KALMAN_Y,-70068.3,-736.2,-549.1,136830.7,583.6
$MHEAD_RNG_PITCHd_Wd,53.0,85092,-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,-136.3,0.0,0.0,0,96,0.00,0.00,-75.60,0.000,2,0.000,0.000,39,2441,3244
$GC,102,-0.78,-136.3,3.9,-7.6,10,120,8.38,2.15,-4.40,0.000,4,0.206,0.048,2299,3847,3497
$GC,169,-0.78,-136.3,32.1,-29.6,20,173,0.00,2.03,0.00,0.000,6,0.000,0.021,2304,2436,3498
$GC,440,-0.78,-136.3,79.9,-15.7,45,444,0.00,2.15,0.00,0.000,4,0.000,0.044,2294,3834,3499
$GC,498,-0.78,-136.3,88.3,-12.5,50,502,0.00,2.03,0.00,0.000,6,0.000,0.020,2297,2408,3499
$GC,771,-0.78,-136.3,124.6,-13.6,75,774,0.00,2.20,0.00,0.000,4,0.000,0.045,2290,3830,3499
$GC,843,-0.78,-136.3,133.6,-11.5,81,846,0.00,2.00,0.00,0.000,6,0.000,0.019,2294,2411,3499
$GC,1114,-0.78,-136.3,166.7,-11.4,106,1118,0.00,2.20,0.00,0.000,4,0.000,0.045,2287,3837,3499
$GC,1174,-0.78,-136.3,173.3,-9.2,111,1179,0.10,2.00,0.00,0.000,6,0.127,0.020,2319,2415,3499
$GC,1451,-0.78,-136.3,191.9,-6.4,136,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2408,3499
$STATE,1573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1573,begin apogee
$GC,1585,-0.27,0.0,200.3,6.4,148,1695,0.47,0.00,103.45,0.687,6,0.087,0.000,2486,2459,2944
$STATE,1696,end apogee,CONTROL_FINISHED_OK
$STATE,1696,begin climb
$GC,1701,0.78,136.3,205.1,0.0,151,1819,0.85,2.25,111.07,0.683,4,0.031,0.037,2849,3867,2385
$GC,2075,0.78,136.3,163.2,17.4,169,2082,0.12,2.05,0.00,0.000,6,0.224,0.020,2828,2455,2378
$GC,2344,0.78,136.3,127.2,12.2,194,2348,0.00,2.15,0.00,0.000,4,0.000,0.038,2822,3877,2375
$GC,2605,0.78,136.3,94.0,11.5,217,2609,0.00,2.00,0.00,0.000,6,0.000,0.020,2831,2456,2375
$GC,2877,0.89,223.0,71.0,5.8,242,2956,0.00,2.22,67.32,0.618,4,0.000,0.038,2832,3870,2028
$GC,3102,0.89,223.0,32.3,21.6,261,3106,0.00,2.03,0.00,0.000,6,0.000,0.020,2841,2470,2024
$STATE,3235,end climb,SURFACE_DEPTH_REACHED
$STATE,3236,begin surface coast
$FINISH,0.5,1.023259
$STATE,3253,end surface coast,CONTROL_FINISHED_OK
$STATE,3253,begin surface
$SM_CCo,3277,73.35,0.556,0,0,1267,410.13
$SM_GC,1.00,0.00,0.00,73.35,0.000,0.000,0.556,39,2457,1267,-7.91,0.76,410.13
$IRIDIUM_FIX,2230.01,-15751.54,221100,141421
$TT8_MAMPS,0.023777
$HUMID,2165
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.20
$XPDR_PINGS,9
$24V_AH,25.0,20.317
$10V_AH,10.9,15.263
$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,17.025,29.500,281.850,73.350,0.000,140.072,200.644,891.060,2.250,0.000,0.000,45.227,541.198,1482.107,368.861,1135.850,1535.144,33.351,763.413,0.000,1113.168,0.000,0.548,0.000
$DEVICE_MAMPS,223.964,95.108,687.232,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,192.516,631.729,649.203,135.179,622.315,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25584,287
$CAP_FILE_SIZE,52793,0
$CFSIZE,260165632,210370560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,290811,155453,2239.005,-15749.198,14,2.0,16,10.1