version: 66.04
glider: 512
mission: 2
dive: 238
start: 9 2 111 0 12 59
data:
$ID,512
$MISSION,2
$DIVE,238
$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,-37568.484
$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,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2760
$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
$GPS1,235425,2253.656,-15803.111,13,1.6,24,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.7
$GPS2,001206,2253.645,-15803.309,35,1.0,35,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,0.005
$KALMAN_X,-140046.4,-336.9,695.7,126376.6,-964.0
$KALMAN_Y,-23489.5,118.8,810.1,115908.4,-15.4
$MHEAD_RNG_PITCHd_Wd,78.8,100098,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-75.43,0.000,2,0.000,0.000,40,2464,3099
$GC,103,-0.78,-136.3,3.2,-5.5,10,121,8.25,2.22,-4.22,0.000,4,0.197,0.051,2296,3908,3317
$GC,137,-0.78,-136.3,17.0,-35.7,14,145,0.00,2.05,0.00,0.000,6,0.000,0.031,2304,2502,3318
$GC,412,-0.78,-136.3,68.5,-16.5,44,415,0.00,2.00,0.00,0.000,4,0.000,0.025,2308,1102,3319
$GC,462,-0.78,-136.3,76.4,-11.5,48,470,0.00,2.12,0.00,0.000,6,0.000,0.038,2304,2501,3319
$GC,729,-0.78,-136.3,110.9,-12.6,73,732,0.00,2.12,0.00,0.000,4,0.000,0.044,2292,3907,3319
$GC,781,-0.78,-136.3,117.5,-10.5,77,788,0.00,2.03,0.00,0.000,6,0.000,0.020,2295,2495,3319
$GC,1046,-0.78,-136.3,146.9,-10.8,102,1049,0.00,1.98,0.00,0.000,4,0.000,0.022,2300,1096,3320
$GC,1072,-0.78,-136.3,149.7,-11.1,104,1076,0.00,2.10,0.00,0.000,6,0.000,0.035,2293,2508,3320
$GC,1343,-0.78,-136.3,177.6,-11.2,129,1346,0.00,2.10,0.00,0.000,4,0.000,0.044,2282,3903,3319
$GC,1383,-0.78,-136.3,182.6,-11.3,132,1391,0.08,2.03,0.00,0.000,6,0.114,0.020,2314,2496,3319
$STATE,1557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1568,-0.27,0.0,200.5,10.3,149,1679,0.50,0.00,106.07,0.686,6,0.132,0.000,2483,2489,2760
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1686,0.78,136.3,206.7,0.0,152,1808,0.85,2.25,111.12,0.673,4,0.031,0.035,2837,3907,2202
$GC,2061,0.78,136.3,131.6,26.8,174,2070,0.00,2.08,0.00,0.000,6,0.000,0.019,2847,2477,2196
$GC,2327,0.78,136.3,79.9,14.4,199,2331,0.00,2.15,0.00,0.000,4,0.000,0.034,2847,3904,2195
$GC,2588,0.78,136.3,49.2,11.7,222,2593,0.15,2.03,0.00,0.000,6,0.222,0.019,2825,2466,2194
$GC,2859,0.78,136.3,23.3,11.9,251,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2461,2192
$STATE,3009,end climb,SURFACE_DEPTH_REACHED
$STATE,3009,begin surface coast
$FINISH,0.4,1.014562
$STATE,3037,end surface coast,CONTROL_FINISHED_OK
$STATE,3037,begin surface
$SM_CCo,3062,121.00,0.556,0,0,1086,410.13
$SM_GC,1.08,0.00,0.00,121.00,0.000,0.000,0.556,37,2546,1086,-7.92,1.30,410.13
$IRIDIUM_FIX,2246.36,-15803.66,261100,000036
$TT8_MAMPS,0.02301
$HUMID,2111
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,25.10
$XPDR_PINGS,13
$24V_AH,25.0,26.978
$10V_AH,10.9,20.883
$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,16.900,29.300,217.200,121.000,0.000,50.682,71.555,692.727,3.250,0.000,0.000,35.393,527.742,1168.440,388.172,1096.830,1071.833,33.341,747.772,0.000,1088.965,0.000,0.548,0.000
$DEVICE_MAMPS,222.430,89.739,686.465,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,189.958,624.976,644.385,151.608,687.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22541,283
$CAP_FILE_SIZE,44753,0
$CFSIZE,260165632,208060416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,020911,010702,2253.606,-15803.353,12,1.5,12,10.1