version: 66.04
glider: 512
mission: 2
dive: 276
start: 9 3 111 16 33 15
data:
$ID,512
$MISSION,2
$DIVE,276
$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,-38428.277
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2530
$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,50
$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,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
$GPS1,162548,2256.568,-15808.243,10,1.5,14,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-76.7
$GPS2,163220,2256.592,-15808.307,12,1.6,12,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.107
$KALMAN_X,-181545.1,472.5,-177.6,159356.9,-1562.6
$KALMAN_Y,-4839.5,-887.3,-929.7,105453.6,384.0
$MHEAD_RNG_PITCHd_Wd,104.9,108108,-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,-136.2,0.0,0.0,0,104,0.00,0.00,-83.03,0.000,2,0.000,0.000,41,2488,3304
$GC,110,-0.78,-136.3,4.1,-7.7,11,127,8.18,2.05,-0.17,0.000,4,0.199,0.035,2287,1067,3316
$GC,148,-0.78,-136.3,24.0,-51.0,16,157,0.00,2.20,0.00,0.000,6,0.000,0.038,2278,2490,3317
$GC,419,-0.78,-136.3,79.8,-16.7,42,422,0.00,2.15,0.00,0.000,4,0.000,0.044,2267,3906,3317
$GC,492,-0.78,-136.3,91.1,-12.8,48,501,0.00,2.05,0.00,0.000,6,0.000,0.021,2267,2492,3317
$GC,759,-0.78,-136.3,124.0,-12.7,73,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2486,3317
$GC,1023,-0.78,-136.3,161.6,-14.6,98,1027,0.00,1.98,0.00,0.000,4,0.000,0.022,2267,1083,3318
$GC,1050,-0.78,-136.3,165.4,-14.8,100,1054,0.00,2.12,0.00,0.000,6,0.000,0.035,2263,2510,3318
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1332,-0.27,0.0,201.1,12.0,125,1441,0.55,0.00,106.12,0.706,6,0.117,0.000,2443,2510,2760
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1447,0.78,136.3,205.0,0.0,128,1563,0.85,0.00,111.65,0.704,6,0.027,0.000,2796,2510,2203
$GC,1823,0.78,136.3,142.8,18.1,154,1826,0.00,2.08,0.00,0.000,4,0.000,0.022,2807,1061,2196
$GC,1849,0.78,136.3,138.2,17.2,156,1853,0.00,2.12,0.00,0.000,6,0.000,0.030,2807,2495,2195
$GC,2120,0.78,136.3,93.2,15.3,181,2124,0.00,2.10,0.00,0.000,4,0.000,0.040,2806,3897,2194
$GC,2162,0.78,136.3,86.2,15.7,184,2170,0.10,2.05,0.00,0.000,6,0.213,0.025,2789,2478,2194
$GC,2432,0.78,136.3,51.1,10.3,209,2435,0.00,2.15,0.00,0.000,4,0.000,0.038,2780,3893,2192
$GC,2526,0.78,136.3,40.4,10.9,217,2529,0.00,2.00,0.00,0.000,6,0.000,0.019,2789,2475,2192
$GC,2795,0.78,136.3,12.7,10.4,256,2804,0.00,2.00,0.00,0.000,4,0.000,0.023,2799,1083,2191
$GC,2846,0.80,149.3,7.6,9.4,264,2863,0.00,2.08,9.90,0.525,6,0.000,0.031,2793,2481,2150
$STATE,2884,end climb,SURFACE_DEPTH_REACHED
$STATE,2885,begin surface coast
$FINISH,0.4,1.017076
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2933,114.90,0.571,0,0,1088,410.13
$SM_GC,1.23,0.00,0.00,114.90,0.000,0.000,0.571,38,2491,1088,-7.79,-0.25,410.13
$IRIDIUM_FIX,2248.70,-15808.00,271100,151508
$TT8_MAMPS,0.023777
$HUMID,2146
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,24.50
$XPDR_PINGS,15
$24V_AH,25.0,30.424
$10V_AH,10.8,23.771
$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,16.650,29.125,227.675,114.900,0.000,29.039,39.748,164.035,3.750,0.000,0.000,13.078,503.824,1094.451,383.242,982.931,486.038,33.322,721.992,0.000,999.377,0.000,0.546,0.000
$DEVICE_MAMPS,213.226,44.486,705.640,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,183.739,607.064,626.921,144.052,657.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22508,274
$CAP_FILE_SIZE,36104,0
$CFSIZE,260165632,206917632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,030911,172522,2256.555,-15808.401,11,2.5,30,10.1