version: 66.04
glider: 512
mission: 2
dive: 236
start: 9 1 111 21 59 3
data:
$ID,512
$MISSION,2
$DIVE,236
$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,-37516.09
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,215204,2253.821,-15803.184,15,3.4,34,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-78.5
$GPS2,215808,2253.885,-15803.222,14,1.5,14,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.206
$KALMAN_X,-138037.5,-204.5,98.5,124978.6,-687.5
$KALMAN_Y,-24154.0,-209.2,859.0,117296.2,803.0
$MHEAD_RNG_PITCHd_Wd,134.5,99899,-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,-136.3,0.0,0.0,0,104,0.00,0.00,-82.97,0.000,2,0.000,0.000,40,2479,3360
$GC,110,-0.78,-136.3,4.5,-9.1,11,127,8.30,2.03,-0.28,0.000,4,0.200,0.034,2316,1074,3377
$GC,164,-0.78,-136.3,28.8,-28.6,19,172,0.00,2.17,0.00,0.000,6,0.000,0.045,2307,2494,3378
$GC,430,-0.78,-136.3,76.6,-15.6,44,434,0.00,2.12,0.00,0.000,4,0.000,0.044,2296,3904,3378
$GC,478,-0.78,-136.3,83.3,-13.3,48,482,0.00,2.03,0.00,0.000,6,0.000,0.020,2297,2480,3378
$GC,750,-0.78,-136.3,118.4,-12.8,73,754,0.00,1.95,0.00,0.000,4,0.000,0.024,2306,1100,3379
$GC,778,-0.78,-136.3,122.2,-13.7,75,782,0.00,2.08,0.00,0.000,6,0.000,0.035,2297,2505,3379
$GC,1048,-0.78,-136.3,156.9,-12.4,100,1052,0.00,2.10,0.00,0.000,4,0.000,0.044,2287,3900,3379
$GC,1075,-0.78,-136.3,160.5,-13.2,102,1079,0.10,2.00,0.00,0.000,6,0.130,0.019,2320,2480,3379
$GC,1351,-0.78,-136.3,184.6,-7.9,127,1354,0.00,1.95,0.00,0.000,4,0.000,0.023,2325,1097,3379
$GC,1377,-0.78,-136.3,187.1,-7.8,129,1381,0.00,2.08,0.00,0.000,6,0.000,0.035,2318,2507,3379
$STATE,1570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1570,begin apogee
$GC,1581,-0.27,0.0,200.2,6.3,147,1690,0.50,0.00,105.68,0.686,6,0.100,0.000,2487,2507,2820
$STATE,1691,end apogee,CONTROL_FINISHED_OK
$STATE,1691,begin climb
$GC,1696,0.78,136.3,202.1,0.0,150,1814,0.85,2.12,111.12,0.675,4,0.031,0.021,2870,1080,2264
$GC,2016,0.78,136.3,153.8,21.6,169,2023,0.15,2.12,0.00,0.000,6,0.204,0.028,2830,2501,2258
$GC,2284,0.78,136.3,102.9,18.0,194,2288,0.00,2.05,0.00,0.000,4,0.000,0.037,2822,3882,2256
$GC,2333,0.78,136.3,94.7,15.7,198,2337,0.00,2.00,0.00,0.000,6,0.000,0.019,2831,2477,2255
$GC,2605,0.89,225.2,69.3,5.7,223,2684,0.00,2.20,69.72,0.604,4,0.000,0.037,2832,3868,1899
$GC,2901,0.89,225.2,10.3,25.3,255,2910,0.00,2.03,0.00,0.000,6,0.000,0.020,2841,2487,1896
$STATE,2926,end climb,SURFACE_DEPTH_REACHED
$STATE,2926,begin surface coast
$FINISH,0.6,1.023193
$STATE,2938,end surface coast,CONTROL_FINISHED_OK
$STATE,2938,begin surface
$SM_CCo,2963,77.65,0.555,0,0,1147,410.13
$SM_GC,1.21,0.00,0.00,77.65,0.000,0.000,0.555,39,2477,1147,-7.91,-0.65,410.13
$IRIDIUM_FIX,2246.36,-15801.49,251100,212117
$TT8_MAMPS,0.02301
$HUMID,2156
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.50
$XPDR_PINGS,14
$24V_AH,25.0,26.783
$10V_AH,10.9,20.724
$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,17.050,33.025,286.525,77.650,0.000,30.350,34.165,141.155,3.500,0.000,0.000,14.779,492.830,1117.783,379.179,973.751,451.898,33.348,743.527,0.000,977.552,0.000,0.546,0.000
$DEVICE_MAMPS,204.022,45.253,685.698,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,174.461,577.842,592.181,123.744,570.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22403,261
$CAP_FILE_SIZE,37238,0
$CFSIZE,260165632,208125952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010911,225044,2253.829,-15803.110,11,1.5,11,10.1