version: 66.04
glider: 512
mission: 2
dive: 321
start: 9 5 111 18 31 57
data:
$ID,512
$MISSION,2
$DIVE,321
$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,-39348.133
$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,55
$R_STBD_OVSHOOT,25
$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
$GPS1,181954,2257.636,-15813.786,41,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.1
$GPS2,183102,2257.660,-15813.836,15,1.2,15,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.040
$KALMAN_X,-227156.9,-631.3,-191.3,196596.1,-806.4
$KALMAN_Y,8728.5,-459.6,-709.2,93215.3,163.4
$MHEAD_RNG_PITCHd_Wd,88.9,117431,-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,24,-0.78,-136.2,0.0,0.0,0,131,0.00,0.00,-105.45,0.000,2,0.000,0.000,37,2506,3233
$GC,137,-0.78,-136.3,3.5,-5.9,14,154,8.23,2.03,-1.55,0.000,4,0.201,0.037,2278,1079,3316
$GC,172,-0.78,-136.3,19.2,-42.1,18,180,0.00,2.17,0.00,0.000,6,0.000,0.039,2269,2508,3317
$GC,445,-0.78,-136.3,80.2,-19.4,46,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2509,3317
$GC,711,-0.78,-136.3,124.0,-15.6,71,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2509,3317
$GC,977,-0.78,-136.3,161.8,-13.3,96,980,0.00,2.10,0.00,0.000,4,0.000,0.043,2259,3905,3317
$GC,993,-0.78,-136.3,163.9,-13.2,97,997,0.00,2.03,0.00,0.000,6,0.000,0.020,2258,2477,3318
$GC,1262,-0.78,-136.3,199.0,-12.3,122,1266,0.00,1.98,0.00,0.000,4,0.000,0.024,2258,1103,3318
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1287,-0.27,0.0,200.9,12.3,123,1396,0.60,0.00,105.78,0.690,6,0.121,0.000,2442,2482,2760
$STATE,1397,end apogee,CONTROL_FINISHED_OK
$STATE,1397,begin climb
$GC,1402,0.78,136.3,205.9,0.0,126,1520,0.85,2.15,111.32,0.684,4,0.028,0.021,2806,1070,2203
$GC,1557,0.78,136.3,192.0,22.1,128,1561,0.00,2.15,0.00,0.000,6,0.000,0.028,2806,2493,2200
$GC,1829,0.78,136.3,138.7,17.2,153,1832,0.00,2.10,0.00,0.000,4,0.000,0.036,2806,3893,2196
$GC,1937,0.78,136.3,117.8,17.7,162,1945,0.10,2.05,0.00,0.000,6,0.218,0.019,2790,2479,2195
$GC,2202,0.78,136.3,78.6,13.2,187,2206,0.00,2.15,0.00,0.000,4,0.000,0.038,2780,3899,2193
$GC,2387,0.80,154.7,55.4,9.2,203,2413,0.00,2.00,14.55,0.559,6,0.000,0.019,2789,2466,2128
$GC,2673,0.80,154.7,23.1,12.5,233,2682,0.00,2.17,0.00,0.000,4,0.000,0.036,2780,3889,2124
$GC,2783,0.80,154.7,7.6,14.9,252,2791,0.00,2.03,0.00,0.000,6,0.000,0.019,2789,2488,2124
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,0.4,1.023413
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2856,111.68,0.566,0,0,1087,410.13
$SM_GC,1.10,0.00,0.00,111.68,0.000,0.000,0.566,37,2476,1087,-7.79,-0.68,410.13
$IRIDIUM_FIX,2251.04,-15815.39,291100,171753
$TT8_MAMPS,0.023777
$HUMID,2141
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.70
$XPDR_PINGS,20
$24V_AH,25.0,34.943
$10V_AH,10.9,27.279
$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,16.850,29.200,231.650,111.675,0.000,25.565,34.797,450.325,5.000,0.000,0.000,15.717,477.024,1055.445,401.466,954.573,757.618,33.346,751.456,0.000,964.940,0.000,0.548,0.000
$DEVICE_MAMPS,217.828,42.952,689.533,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,173.648,573.671,589.964,135.039,615.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22400,260
$CAP_FILE_SIZE,39983,0
$CFSIZE,260165632,205524992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,050911,192231,2257.636,-15813.780,13,1.4,18,10.1