version: 66.04
glider: 512
mission: 2
dive: 220
start: 9 1 111 4 27 29
data:
$ID,512
$MISSION,2
$DIVE,220
$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,-37154.199
$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,2500
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2820
$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
$GPS1,041916,2249.565,-15800.926,14,4.5,33,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.3
$GPS2,042636,2249.651,-15800.995,16,1.6,32,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,0.046
$KALMAN_X,-119831.3,-444.0,-690.0,111620.1,-1069.2
$KALMAN_Y,-35291.5,423.8,-949.5,121757.4,973.1
$MHEAD_RNG_PITCHd_Wd,69.3,97365,-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,-136.3,0.0,0.0,0,109,0.00,0.00,-83.00,0.000,2,0.000,0.000,39,2463,3352
$GC,115,-0.78,-136.3,4.2,-8.1,11,131,8.38,0.00,-0.43,0.000,6,0.204,0.000,2305,2463,3377
$GC,403,-0.78,-136.3,75.4,-18.0,41,407,0.00,2.20,0.00,0.000,4,0.000,0.044,2296,3903,3379
$GC,462,-0.78,-136.3,86.0,-15.2,46,466,0.00,2.00,0.00,0.000,6,0.000,0.020,2297,2496,3379
$GC,735,-0.78,-136.3,123.6,-13.9,71,738,0.00,1.98,0.00,0.000,4,0.000,0.024,2301,1100,3379
$GC,765,-0.78,-136.3,128.2,-14.4,73,772,0.00,2.10,0.00,0.000,6,0.000,0.035,2294,2490,3379
$GC,1029,-0.78,-136.3,160.4,-10.9,98,1033,0.00,2.12,0.00,0.000,4,0.000,0.044,2283,3906,3379
$GC,1082,-0.78,-136.3,166.0,-9.5,102,1090,0.08,2.05,0.00,0.000,6,0.111,0.020,2314,2478,3379
$GC,1352,-0.78,-136.3,190.3,-8.5,127,1356,0.00,1.92,0.00,0.000,4,0.000,0.024,2318,1115,3379
$GC,1393,-0.78,-136.3,194.5,-7.5,130,1400,0.00,2.08,0.00,0.000,6,0.000,0.034,2309,2497,3379
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1473,-0.27,0.0,200.1,8.1,137,1583,0.52,0.00,105.28,0.683,6,0.101,0.000,2487,2497,2820
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1589,0.78,136.3,204.4,0.0,140,1707,0.85,2.17,110.90,0.676,4,0.031,0.035,2858,3903,2264
$GC,1964,0.78,136.3,138.6,22.6,162,1968,0.20,2.03,0.00,0.000,6,0.230,0.020,2824,2483,2258
$GC,2232,0.78,136.3,92.3,15.0,186,2236,0.00,2.15,0.00,0.000,4,0.000,0.039,2822,3903,2255
$GC,2494,0.79,148.1,63.2,9.5,209,2508,0.00,2.03,9.62,0.538,6,0.000,0.020,2832,2464,2215
$GC,2771,0.85,197.6,41.3,7.6,234,2815,0.00,2.20,39.70,0.579,4,0.000,0.035,2832,3903,2013
$STATE,2980,end climb,SURFACE_DEPTH_REACHED
$STATE,2980,begin surface coast
$FINISH,0.4,1.023300
$STATE,2992,end surface coast,CONTROL_FINISHED_OK
$STATE,2992,begin surface
$SM_CCo,3020,88.03,0.554,0,0,1147,410.13
$SM_GC,0.97,0.00,0.00,88.03,0.000,0.000,0.554,38,2498,1147,-7.91,-0.06,410.13
$IRIDIUM_FIX,2239.35,-15800.20,251100,030331
$TT8_MAMPS,0.023777
$HUMID,2138
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,25.00
$XPDR_PINGS,12
$24V_AH,25.0,25.441
$10V_AH,10.9,19.490
$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,17.200,29.075,265.500,88.025,0.000,22.850,36.781,209.178,3.000,0.000,0.000,32.577,506.323,1105.726,377.774,1039.997,526.308,33.329,740.987,0.000,1031.893,0.000,0.546,0.000
$DEVICE_MAMPS,230.100,44.486,682.630,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,178.163,584.551,601.791,134.686,614.744,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22643,266
$CAP_FILE_SIZE,38114,0
$CFSIZE,260165632,208650240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,1
$GPS,010911,052036,2250.096,-15801.166,15,1.1,31,10.1