version: 66.04
glider: 512
mission: 2
dive: 230
start: 9 1 111 15 16 15
data:
$ID,512
$MISSION,2
$DIVE,230
$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,-37385.148
$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,66
$R_STBD_OVSHOOT,47
$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
$GPS1,150848,2251.090,-15802.554,7,1.6,11,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.7
$GPS2,151520,2251.083,-15802.642,15,1.9,15,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.077
$KALMAN_X,-131926.8,521.3,-23.6,119259.9,-1447.6
$KALMAN_Y,-28381.3,-193.8,-518.5,117692.9,223.7
$MHEAD_RNG_PITCHd_Wd,97.7,99644,-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,-136.3,0.0,0.0,0,104,0.00,0.00,-82.97,0.000,2,0.000,0.000,38,2496,3365
$GC,109,-0.78,-136.3,4.6,-9.1,11,127,8.20,2.05,-0.17,0.000,4,0.195,0.036,2319,1090,3377
$GC,138,-0.78,-136.3,20.2,-43.3,14,146,0.00,2.12,0.00,0.000,6,0.000,0.034,2310,2491,3378
$GC,412,-0.78,-136.3,69.5,-14.0,41,416,0.00,2.12,0.00,0.000,4,0.000,0.052,2299,3892,3379
$GC,439,-0.78,-136.3,73.1,-12.9,43,443,0.00,1.95,0.00,0.000,6,0.000,0.020,2299,2509,3379
$GC,709,-0.78,-136.3,106.4,-12.6,68,713,0.00,2.03,0.00,0.000,4,0.000,0.024,2307,1087,3379
$GC,791,-0.78,-136.3,114.8,-9.4,75,796,0.00,2.10,0.00,0.000,6,0.000,0.036,2306,2501,3379
$GC,1061,-0.78,-136.3,142.4,-10.4,100,1065,0.00,2.12,0.00,0.000,4,0.000,0.044,2296,3908,3379
$GC,1102,-0.78,-136.3,146.0,-10.4,103,1106,0.00,2.00,0.00,0.000,6,0.000,0.020,2295,2488,3379
$GC,1372,-0.78,-136.3,171.3,-8.9,128,1376,0.00,1.95,0.00,0.000,4,0.000,0.022,2296,1103,3379
$GC,1421,-0.78,-136.3,175.3,-7.0,132,1425,0.00,2.08,0.00,0.000,6,0.000,0.035,2290,2502,3379
$GC,1694,-0.78,-136.3,198.7,-8.9,157,1697,0.00,2.12,0.00,0.000,4,0.000,0.044,2280,3908,3379
$STATE,1704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1717,-0.27,0.0,200.3,9.3,158,1827,0.60,0.00,105.60,0.693,6,0.110,0.000,2480,2468,2820
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1833,0.78,136.3,205.1,0.0,161,1955,0.88,2.28,111.10,0.682,4,0.029,0.035,2859,3903,2263
$GC,2209,0.78,136.3,141.1,24.8,183,2216,0.15,2.08,0.00,0.000,6,0.231,0.020,2832,2488,2258
$GC,2478,0.78,136.3,84.9,19.3,208,2482,0.00,2.12,0.00,0.000,4,0.000,0.035,2832,3904,2255
$GC,2740,0.79,145.3,43.5,9.6,231,2754,0.00,2.05,7.25,0.502,6,0.000,0.019,2842,2442,2227
$GC,3015,0.85,195.2,22.1,7.6,266,3062,0.00,2.25,39.58,0.578,4,0.000,0.034,2836,3899,2025
$STATE,3136,end climb,SURFACE_DEPTH_REACHED
$STATE,3137,begin surface coast
$FINISH,0.4,1.023247
$STATE,3157,end surface coast,CONTROL_FINISHED_OK
$STATE,3157,begin surface
$SM_CCo,3183,92.57,0.558,0,0,1147,410.13
$SM_GC,1.18,0.00,0.00,92.57,0.000,0.000,0.558,39,2501,1147,-7.91,0.03,410.13
$IRIDIUM_FIX,2244.02,-15801.49,251100,141400
$TT8_MAMPS,0.023777
$HUMID,2160
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,24.30
$XPDR_PINGS,18
$24V_AH,25.0,26.262
$10V_AH,10.9,20.262
$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,16.900,37.550,263.525,92.575,0.000,31.252,32.163,172.682,4.500,0.000,0.000,16.103,541.042,1171.663,383.727,1090.669,490.325,33.327,768.604,0.000,1100.677,0.000,0.547,0.000
$DEVICE_MAMPS,230.867,52.156,692.601,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,192.848,633.990,652.006,148.610,670.978,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25718,288
$CAP_FILE_SIZE,40155,0
$CFSIZE,260165632,208318464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010911,161150,2251.176,-15802.843,11,1.7,11,10.1