version: 66.04
glider: 512
mission: 2
dive: 171
start: 8 29 111 19 54 19
data:
$ID,512
$MISSION,2
$DIVE,171
$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,-35984.73
$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,2470
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,37
$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
$GPS1,193238,2240.060,-15749.553,14,1.6,14,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.4
$GPS2,195326,2240.207,-15749.760,19,1.9,19,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.086
$KALMAN_X,-60201.1,-1273.2,318.7,71113.8,-781.6
$KALMAN_Y,-68634.9,-574.1,695.2,136965.2,417.1
$MHEAD_RNG_PITCHd_Wd,99.9,84654,-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,25,-0.78,-136.3,0.0,0.0,0,102,0.00,0.00,-75.57,0.000,2,0.000,0.000,39,2466,3239
$GC,108,-0.78,-136.3,3.8,-7.1,10,126,8.50,2.05,-4.57,0.000,4,0.210,0.037,2318,1061,3498
$GC,207,-0.78,-136.3,33.6,-12.8,24,211,0.00,2.10,0.00,0.000,6,0.000,0.035,2309,2463,3500
$GC,478,-0.78,-136.3,79.2,-17.4,49,482,0.00,2.15,0.00,0.000,4,0.000,0.045,2298,3877,3500
$GC,538,-0.78,-136.3,88.1,-12.2,54,541,0.00,2.00,0.00,0.000,6,0.000,0.020,2298,2469,3500
$GC,810,-0.78,-136.3,126.0,-15.2,79,813,0.00,1.98,0.00,0.000,4,0.000,0.024,2298,1072,3500
$GC,847,-0.78,-136.3,131.3,-13.0,82,850,0.00,2.08,0.00,0.000,6,0.000,0.036,2293,2470,3500
$GC,1116,-0.78,-136.3,165.1,-11.9,107,1120,0.00,2.15,0.00,0.000,4,0.000,0.046,2282,3884,3500
$GC,1200,-0.78,-136.3,174.7,-10.4,114,1204,0.12,2.00,0.00,0.000,6,0.118,0.020,2322,2462,3500
$GC,1475,-0.78,-136.3,199.5,-9.3,139,1479,0.00,1.95,0.00,0.000,4,0.000,0.025,2322,1082,3500
$STATE,1485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1499,-0.27,0.0,201.4,8.9,140,1607,0.47,0.00,104.78,0.681,6,0.084,0.000,2486,2465,2940
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1613,0.78,136.3,209.0,0.0,143,1731,0.85,2.08,110.38,0.679,4,0.048,0.021,2864,1058,2383
$GC,1987,0.78,136.3,165.0,19.6,162,1991,0.17,2.10,0.00,0.000,6,0.215,0.031,2824,2476,2376
$GC,2262,0.78,136.3,124.7,12.1,187,2265,0.00,2.03,0.00,0.000,4,0.000,0.022,2834,1055,2374
$GC,2281,0.78,136.3,121.5,12.1,188,2290,0.00,2.10,0.00,0.000,6,0.000,0.030,2834,2461,2374
$GC,2548,0.80,154.4,92.0,9.2,213,2573,0.00,2.05,14.18,0.593,4,0.000,0.022,2844,1063,2309
$GC,2633,0.80,154.4,83.1,11.6,220,2637,0.00,2.05,0.00,0.000,6,0.000,0.029,2844,2466,2308
$GC,2906,0.93,258.6,63.3,4.9,245,2997,0.00,2.17,81.68,0.605,4,0.000,0.037,2844,3859,1885
$STATE,3185,end climb,SURFACE_DEPTH_REACHED
$STATE,3185,begin surface coast
$FINISH,0.3,1.023238
$STATE,3197,end surface coast,CONTROL_FINISHED_OK
$STATE,3197,begin surface
$SM_CCo,3224,60.15,0.547,0,0,1267,410.13
$SM_GC,1.04,0.00,0.00,60.15,0.000,0.000,0.547,39,2448,1267,-7.91,-0.62,410.13
$IRIDIUM_FIX,2232.34,-15750.66,221100,191920
$TT8_MAMPS,0.023777
$HUMID,2149
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.60
$XPDR_PINGS,8
$24V_AH,25.0,20.749
$10V_AH,10.9,15.594
$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,17.275,37.175,311.000,60.150,0.000,88.035,114.629,742.953,2.000,0.000,0.000,19.889,525.713,1350.407,373.963,1073.349,1216.229,33.352,768.085,0.000,1072.061,0.000,0.548,0.000
$DEVICE_MAMPS,214.760,46.020,681.096,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,187.505,616.220,631.152,134.052,622.414,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22475,280
$CAP_FILE_SIZE,48069,0
$CFSIZE,260165632,210247680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,290811,205029,2240.389,-15749.848,17,2.4,36,10.1