version: 66.04
glider: 512
mission: 2
dive: 163
start: 8 29 111 9 42 18
data:
$ID,512
$MISSION,2
$DIVE,163
$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,-35794.598
$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,79
$R_STBD_OVSHOOT,43
$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
$GPS1,092006,2238.276,-15747.011,42,1.9,42,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-77.3
$GPS2,094125,2238.283,-15747.223,8,1.2,13,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.110
$KALMAN_X,-50338.0,237.7,463.6,63937.2,-1012.6
$KALMAN_Y,-72013.9,582.2,269.1,136050.3,-497.8
$MHEAD_RNG_PITCHd_Wd,54.1,82455,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.78,-136.3,0.0,0.0,0,127,0.00,0.00,-105.72,0.000,2,0.000,0.000,40,2434,3250
$GC,133,-0.78,-136.3,3.7,-6.7,14,150,8.30,0.00,-4.35,0.000,6,0.202,0.000,2309,2434,3499
$GC,415,-0.78,-136.3,73.3,-18.0,44,419,0.00,2.15,0.00,0.000,4,0.000,0.044,2299,3836,3500
$GC,453,-0.78,-136.3,80.0,-16.2,47,457,0.00,1.98,0.00,0.000,6,0.000,0.020,2299,2442,3500
$GC,722,-0.78,-136.3,118.4,-15.2,72,726,0.00,2.15,0.00,0.000,4,0.000,0.044,2293,3835,3500
$GC,771,-0.78,-136.3,125.5,-14.4,76,774,0.00,2.00,0.00,0.000,6,0.000,0.020,2293,2420,3500
$GC,1041,-0.78,-136.3,159.6,-11.1,101,1044,0.00,2.17,0.00,0.000,4,0.000,0.046,2287,3831,3500
$GC,1104,-0.78,-136.3,166.8,-9.9,106,1112,0.08,2.00,0.00,0.000,6,0.104,0.020,2319,2430,3500
$GC,1374,-0.78,-136.3,188.1,-7.8,131,1378,0.00,1.95,0.00,0.000,4,0.000,0.024,2319,1037,3500
$GC,1393,-0.78,-136.3,190.0,-7.4,132,1401,0.00,2.08,0.00,0.000,6,0.000,0.035,2319,2413,3500
$STATE,1535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1536,begin apogee
$GC,1548,-0.27,0.0,200.2,6.9,146,1658,0.47,0.00,104.88,0.705,6,0.086,0.000,2486,2472,2940
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1663,0.78,136.3,205.0,0.0,149,1781,0.85,2.17,111.05,0.687,4,0.030,0.036,2849,3879,2383
$GC,1889,0.78,136.3,189.9,22.5,154,1894,0.15,2.05,0.00,0.000,6,0.231,0.020,2828,2458,2379
$GC,2158,0.78,136.3,142.4,16.7,178,2162,0.00,2.15,0.00,0.000,4,0.000,0.037,2822,3875,2375
$GC,2176,0.78,136.3,138.3,16.7,179,2184,0.00,2.05,0.00,0.000,6,0.000,0.021,2831,2462,2375
$GC,2441,0.78,136.3,102.8,12.0,204,2445,0.00,2.12,0.00,0.000,4,0.000,0.038,2832,3873,2373
$GC,2703,0.84,187.4,71.4,7.5,227,2748,0.00,2.00,39.83,0.609,6,0.000,0.019,2842,2440,2175
$GC,3008,0.84,187.4,30.1,14.2,254,3011,0.00,2.17,0.00,0.000,4,0.000,0.034,2836,3885,2168
$STATE,3193,end climb,SURFACE_DEPTH_REACHED
$STATE,3193,begin surface coast
$FINISH,0.3,1.023333
$STATE,3211,end surface coast,CONTROL_FINISHED_OK
$STATE,3211,begin surface
$SM_CCo,3237,94.65,0.568,0,0,1267,410.13
$SM_GC,1.00,0.00,0.00,94.65,0.000,0.000,0.568,39,2428,1267,-7.91,-0.06,410.13
$IRIDIUM_FIX,2230.01,-15748.50,221100,090902
$TT8_MAMPS,0.023777
$HUMID,2129
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,25.1,19.844
$10V_AH,10.9,14.917
$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,17.000,33.375,255.750,94.650,0.000,103.688,198.241,620.609,2.500,0.000,0.000,18.605,535.989,1408.505,391.015,1080.070,1203.086,33.341,774.186,0.000,1088.905,0.000,0.548,0.000
$DEVICE_MAMPS,230.867,101.244,704.873,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,194.275,638.458,656.260,143.590,653.701,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25597,290
$CAP_FILE_SIZE,47770,0
$CFSIZE,260165632,210509824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290811,103855,2238.330,-15747.233,12,1.5,17,10.1