version: 66.04
glider: 512
mission: 2
dive: 153
start: 8 28 111 21 10 33
data:
$ID,512
$MISSION,2
$DIVE,153
$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,-35602.262
$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,67
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2980
$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
$GPS1,205737,2236.481,-15747.034,31,0.8,31,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.2
$GPS2,210938,2236.550,-15747.143,14,1.5,14,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.104
$KALMAN_X,-39870.1,-806.3,377.4,54733.4,-918.5
$KALMAN_Y,-75765.1,225.2,22.3,137197.6,407.7
$MHEAD_RNG_PITCHd_Wd,104.3,83950,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-0.78,-136.3,0.0,0.0,0,101,0.00,0.00,-75.53,0.000,2,0.000,0.000,42,2459,3281
$GC,107,-0.78,-136.3,3.8,-7.1,10,125,8.27,2.12,-4.43,0.000,4,0.201,0.035,2317,1012,3538
$GC,168,-0.78,-136.3,29.6,-27.0,19,177,0.00,2.17,0.00,0.000,6,0.000,0.038,2308,2428,3539
$GC,434,-0.78,-136.3,78.3,-17.5,44,437,0.00,2.15,0.00,0.000,4,0.000,0.047,2297,3839,3539
$GC,547,-0.78,-136.3,92.8,-9.6,54,551,0.00,2.00,0.00,0.000,6,0.000,0.020,2298,2425,3539
$GC,819,-0.78,-136.3,125.9,-11.4,79,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2418,3540
$GC,1084,-0.78,-136.3,154.4,-10.3,104,1087,0.00,2.20,0.00,0.000,4,0.000,0.046,2292,3849,3540
$GC,1154,-0.78,-136.3,160.9,-8.2,110,1158,0.00,2.00,0.00,0.000,6,0.000,0.020,2292,2429,3540
$GC,1425,-0.78,-136.3,188.9,-10.2,135,1428,0.00,2.17,0.00,0.000,4,0.000,0.047,2290,3838,3540
$GC,1462,-0.78,-136.3,192.5,-9.3,138,1465,0.00,2.00,0.00,0.000,6,0.000,0.021,2290,2422,3540
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1546,begin apogee
$GC,1557,-0.27,0.0,200.8,9.1,146,1668,0.57,0.00,104.18,0.685,6,0.099,0.000,2485,2477,2979
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1674,0.78,136.3,206.7,0.0,149,1791,0.88,2.15,109.60,0.692,4,0.038,0.022,2845,1053,2424
$GC,2048,0.78,136.3,179.0,15.0,165,2052,0.00,2.10,0.00,0.000,6,0.000,0.028,2846,2475,2418
$GC,2318,0.78,136.3,139.1,14.6,190,2321,0.00,2.03,0.00,0.000,4,0.000,0.022,2855,1051,2416
$GC,2581,0.81,159.1,111.6,9.0,213,2607,0.00,2.08,18.12,0.611,6,0.000,0.029,2849,2474,2331
$GC,2868,0.81,159.1,73.3,11.6,239,2871,0.00,2.00,0.00,0.000,4,0.000,0.022,2858,1056,2325
$GC,3124,0.96,285.3,56.8,3.8,262,3230,0.00,2.08,98.47,0.607,6,0.000,0.030,2858,2474,1815
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,0.5,1.023234
$STATE,3376,end surface coast,CONTROL_FINISHED_OK
$STATE,3376,begin surface
$SM_CCo,3401,53.28,0.554,0,0,1307,410.13
$SM_GC,0.93,0.00,0.00,53.28,0.000,0.000,0.554,40,2482,1307,-7.91,1.47,410.13
$IRIDIUM_FIX,2227.67,-15749.38,211100,212147
$TT8_MAMPS,0.02301
$HUMID,2161
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.30
$XPDR_PINGS,9
$24V_AH,25.0,18.755
$10V_AH,10.9,14.083
$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,17.025,29.325,330.375,53.275,0.000,46.250,82.350,373.092,2.250,0.000,0.000,14.617,547.908,1356.761,376.768,1145.252,759.238,33.326,802.320,0.000,1148.979,0.000,0.547,0.000
$DEVICE_MAMPS,200.954,75.166,691.834,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,195.425,638.714,655.944,135.759,625.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25797,292
$CAP_FILE_SIZE,44339,0
$CFSIZE,260165632,210841600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,1
$GPS,280811,220914,2236.334,-15747.311,19,1.8,19,10.0