version: 66.04
glider: 512
mission: 2
dive: 178
start: 8 30 111 4 52 13
data:
$ID,512
$MISSION,2
$DIVE,178
$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,-36172.969
$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,73
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2920
$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
$GPS1,043126,2242.287,-15752.357,13,1.8,13,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.1
$GPS2,045120,2242.561,-15752.464,14,1.9,32,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,0.090
$KALMAN_X,-70211.4,-602.4,-850.1,76968.7,-235.7
$KALMAN_Y,-63368.3,1071.2,-184.0,135292.9,1136.5
$MHEAD_RNG_PITCHd_Wd,59.0,87124,-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,-136.3,0.0,0.0,0,103,0.00,0.00,-76.07,0.000,2,0.000,0.000,37,2447,3270
$GC,109,-0.78,-136.3,3.9,-7.6,10,127,8.40,2.17,-3.62,0.000,4,0.205,0.048,2299,3876,3478
$GC,209,-0.78,-136.3,40.0,-18.3,23,218,0.00,2.03,0.00,0.000,6,0.000,0.021,2301,2485,3479
$GC,474,-0.78,-136.3,89.9,-16.2,48,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2478,3480
$GC,740,-0.78,-136.3,128.8,-13.1,73,744,0.00,2.12,0.00,0.000,4,0.000,0.044,2294,3868,3480
$GC,768,-0.78,-136.3,132.4,-13.4,75,772,0.00,1.98,0.00,0.000,6,0.000,0.020,2297,2465,3480
$GC,1040,-0.78,-136.3,163.7,-10.9,100,1044,0.00,1.98,0.00,0.000,4,0.000,0.024,2307,1064,3480
$GC,1066,-0.78,-136.3,166.7,-10.8,102,1070,0.00,2.08,0.00,0.000,6,0.000,0.035,2306,2461,3480
$GC,1338,-0.78,-136.3,193.4,-9.8,127,1342,0.00,2.15,0.00,0.000,4,0.000,0.045,2296,3881,3480
$GC,1399,-0.78,-136.3,199.1,-8.3,132,1403,0.00,2.00,0.00,0.000,6,0.000,0.021,2296,2462,3480
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1411,begin apogee
$GC,1422,-0.27,0.0,200.5,8.9,133,1532,0.55,0.00,104.95,0.681,6,0.097,0.000,2482,2453,2919
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1538,0.78,136.3,206.7,0.0,136,1655,0.85,2.25,109.95,0.680,4,0.031,0.035,2848,3890,2364
$GC,1883,0.78,136.3,167.2,19.7,152,1888,0.15,2.05,0.00,0.000,6,0.216,0.020,2826,2455,2359
$GC,2153,0.78,136.3,125.9,13.2,176,2157,0.00,2.15,0.00,0.000,4,0.000,0.038,2822,3887,2356
$GC,2392,0.78,136.3,92.3,10.9,197,2396,0.00,2.03,0.00,0.000,6,0.000,0.020,2831,2452,2356
$GC,2664,0.98,298.4,78.6,2.0,222,2796,0.15,2.25,125.82,0.609,4,0.074,0.036,2888,3901,1702
$GC,2943,0.98,298.4,12.5,34.8,249,2951,0.00,2.10,0.00,0.000,6,0.000,0.023,2896,2483,1698
$STATE,2968,end climb,SURFACE_DEPTH_REACHED
$STATE,2968,begin surface coast
$FINISH,0.3,1.023253
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,3000,46.12,0.542,0,0,1247,410.13
$SM_GC,1.11,0.00,0.00,46.12,0.000,0.000,0.542,39,2470,1247,-7.91,0.00,410.13
$IRIDIUM_FIX,2234.68,-15753.70,231100,040402
$TT8_MAMPS,0.023777
$HUMID,2161
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.50
$XPDR_PINGS,8
$24V_AH,25.0,21.546
$10V_AH,10.9,16.185
$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,17.575,29.325,340.725,46.125,0.000,120.909,217.243,481.653,2.000,0.000,0.000,32.476,478.254,1299.671,373.324,1008.057,1088.444,33.366,766.238,0.000,993.579,0.000,0.547,0.000
$DEVICE_MAMPS,216.294,47.554,681.096,542.269,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,169.226,557.773,571.195,114.386,538.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22501,254
$CAP_FILE_SIZE,44990,0
$CFSIZE,260165632,210018304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,300811,054422,2243.072,-15752.295,15,5.5,34,10.1