version: 66.04
glider: 512
mission: 2
dive: 159
start: 8 29 111 4 32 26
data:
$ID,512
$MISSION,2
$DIVE,159
$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,-35724.48
$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,54
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2960
$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
$GPS1,041137,2237.095,-15747.727,33,1.0,33,10.0
$_CALLS,3
$_XMS_NAKs,34
$_XMS_TOUTs,2
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.8
$GPS2,043131,2237.269,-15747.716,12,1.0,17,10.0
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.007
$KALMAN_X,-45852.1,-403.8,-537.8,60245.0,89.6
$KALMAN_Y,-73626.5,1512.8,214.8,134908.2,654.7
$MHEAD_RNG_PITCHd_Wd,81.7,84114,-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,-75.32,0.000,2,0.000,0.000,42,2456,3294
$GC,102,-0.78,-136.3,4.3,-8.7,10,120,8.38,2.10,-3.75,0.000,4,0.206,0.035,2316,1009,3519
$GC,157,-0.78,-136.3,29.5,-31.2,18,165,0.00,2.15,0.00,0.000,6,0.000,0.043,2307,2410,3520
$GC,423,-0.78,-136.3,79.4,-15.7,43,427,0.00,2.17,0.00,0.000,4,0.000,0.045,2296,3843,3520
$GC,529,-0.78,-136.3,93.6,-10.7,52,538,0.00,2.05,0.00,0.000,6,0.000,0.020,2297,2415,3521
$GC,795,-0.78,-136.3,125.3,-11.6,77,799,0.00,2.20,0.00,0.000,4,0.000,0.045,2289,3845,3521
$GC,846,-0.78,-136.3,131.3,-11.0,81,849,0.00,2.00,0.00,0.000,6,0.000,0.020,2289,2430,3522
$GC,1117,-0.78,-136.3,166.5,-13.6,106,1120,0.00,2.17,0.00,0.000,4,0.000,0.044,2278,3844,3522
$GC,1157,-0.78,-136.3,172.6,-13.9,109,1164,0.10,2.03,0.00,0.000,6,0.111,0.021,2318,2428,3521
$GC,1427,-0.78,-136.3,196.0,-8.0,134,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2420,3521
$STATE,1475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1475,begin apogee
$GC,1487,-0.27,0.0,200.4,7.7,139,1596,0.47,0.00,104.62,0.702,6,0.087,0.000,2485,2486,2960
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1603,0.78,136.3,206.2,0.0,142,1720,0.82,2.15,110.45,0.692,4,0.030,0.036,2835,3870,2404
$GC,1812,0.78,136.3,197.0,20.0,146,1818,0.00,2.03,0.00,0.000,6,0.000,0.020,2845,2467,2399
$GC,2077,0.78,136.3,150.5,15.9,171,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2462,2396
$GC,2341,0.78,136.3,113.4,14.2,196,2345,0.00,2.00,0.00,0.000,4,0.000,0.023,2856,1052,2395
$GC,2603,0.82,167.0,86.1,8.6,219,2632,0.00,2.05,23.95,0.605,6,0.000,0.028,2856,2467,2279
$GC,2904,0.89,224.2,51.8,7.2,246,2961,0.00,2.12,45.70,0.597,4,0.000,0.024,2866,1053,2043
$GC,3070,0.89,224.2,25.4,19.2,262,3078,0.00,2.10,0.00,0.000,6,0.000,0.028,2866,2452,2040
$STATE,3173,end climb,SURFACE_DEPTH_REACHED
$STATE,3173,begin surface coast
$FINISH,0.3,1.023253
$STATE,3186,end surface coast,CONTROL_FINISHED_OK
$STATE,3186,begin surface
$SM_CCo,3210,77.30,0.566,0,0,1287,410.13
$SM_GC,1.09,0.00,0.00,77.30,0.000,0.000,0.566,40,2462,1287,-7.91,0.90,410.13
$IRIDIUM_FIX,2227.67,-15746.34,221100,040427
$TT8_MAMPS,0.02301
$HUMID,2155
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.50
$XPDR_PINGS,12
$24V_AH,25.0,19.363
$10V_AH,10.9,14.578
$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,17.025,29.400,284.725,77.300,0.000,85.639,106.583,705.319,3.000,0.000,0.000,17.209,523.311,1357.504,384.169,1064.762,1162.446,33.338,774.176,0.000,1068.565,0.000,0.547,0.000
$DEVICE_MAMPS,206.323,77.467,701.805,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,189.072,622.721,638.892,135.417,622.288,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22568,283
$CAP_FILE_SIZE,49846,0
$CFSIZE,260165632,210640896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290811,052825,2237.501,-15747.324,11,1.6,22,10.1