version: 66.04
glider: 512
mission: 2
dive: 196
start: 8 31 111 2 57 53
data:
$ID,512
$MISSION,2
$DIVE,196
$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,-36601.941
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2580
$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,2490
$C_ROLL_CLIMB,2460
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$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,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
$GPS1,024738,2245.407,-15756.837,12,1.4,12,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-78.5
$GPS2,025655,2245.485,-15756.974,11,1.4,16,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,-0.194
$KALMAN_X,-93207.3,-1383.0,-519.1,92674.5,-1260.1
$KALMAN_Y,-52129.6,730.9,-620.8,130243.3,580.7
$MHEAD_RNG_PITCHd_Wd,130.0,92591,-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,18,-0.78,-136.3,0.0,0.0,0,96,0.00,0.00,-75.62,0.000,2,0.000,0.000,39,2469,3210
$GC,102,-0.78,-136.3,3.6,-6.1,10,119,8.20,0.00,-4.78,0.000,6,0.193,0.000,2320,2469,3478
$GC,386,-0.78,-136.3,66.5,-15.7,41,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2469,3480
$GC,650,-0.78,-136.3,101.9,-13.2,66,654,0.00,2.17,0.00,0.000,4,0.000,0.045,2311,3884,3480
$GC,691,-0.78,-136.3,107.0,-11.5,69,698,0.00,1.98,0.00,0.000,6,0.000,0.020,2311,2506,3480
$GC,955,-0.78,-136.3,139.8,-12.2,94,959,0.00,2.00,0.00,0.000,4,0.000,0.024,2315,1096,3480
$GC,995,-0.78,-136.3,144.0,-10.1,97,999,0.00,2.05,0.00,0.000,6,0.000,0.035,2308,2479,3481
$GC,1265,-0.78,-136.3,172.9,-11.0,122,1269,0.00,2.15,0.00,0.000,4,0.000,0.045,2296,3898,3481
$GC,1318,-0.78,-136.3,178.3,-8.4,126,1327,0.08,2.03,0.00,0.000,6,0.094,0.020,2330,2482,3480
$GC,1588,-0.78,-136.3,194.7,-5.1,151,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2482,3480
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1700,-0.27,0.0,200.4,5.2,161,1810,0.47,0.00,105.03,0.686,6,0.087,0.000,2497,2481,2919
$STATE,1811,end apogee,CONTROL_FINISHED_OK
$STATE,1811,begin climb
$GC,1816,0.78,136.3,204.5,0.0,164,1933,0.85,2.15,110.30,0.676,4,0.029,0.035,2862,3878,2363
$GC,2021,0.78,136.3,193.0,22.8,168,2026,0.17,2.05,0.00,0.000,6,0.232,0.020,2834,2480,2359
$GC,2289,0.78,136.3,144.7,16.8,192,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2475,2356
$GC,2556,0.78,136.3,106.8,14.0,217,2560,0.00,2.05,0.00,0.000,4,0.000,0.023,2844,1043,2354
$GC,2651,0.79,141.9,97.0,9.8,225,2664,0.00,2.10,4.38,0.430,6,0.000,0.031,2835,2471,2341
$GC,2929,0.87,208.8,76.2,6.8,250,2993,0.00,2.15,54.10,0.604,4,0.000,0.037,2835,3858,2066
$GC,3242,0.87,208.8,19.4,20.3,282,3250,0.00,2.05,0.00,0.000,6,0.000,0.020,2845,2445,2062
$STATE,3320,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FINISH,0.4,1.023176
$STATE,3332,end surface coast,CONTROL_FINISHED_OK
$STATE,3332,begin surface
$SM_CCo,3358,89.43,0.549,0,0,1248,410.13
$SM_GC,0.88,0.00,0.00,89.43,0.000,0.000,0.549,39,2514,1248,-7.94,0.68,410.13
$IRIDIUM_FIX,2237.01,-15754.99,241100,020254
$TT8_MAMPS,0.023777
$HUMID,2148
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.70
$XPDR_PINGS,19
$24V_AH,25.0,23.476
$10V_AH,10.9,17.686
$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,16.900,25.000,273.800,89.425,0.000,61.080,67.014,201.441,4.750,0.000,0.000,21.232,547.399,1384.396,394.019,1091.620,599.319,33.358,779.910,0.000,1098.036,0.000,0.546,0.000
$DEVICE_MAMPS,232.401,81.302,685.698,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,199.387,656.753,675.726,140.174,643.608,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25685,298
$CAP_FILE_SIZE,40359,0
$CFSIZE,260165632,209432576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,310811,035620,2245.619,-15757.101,11,1.9,11,10.1