version: 66.04
glider: 512
mission: 2
dive: 322
start: 9 5 111 19 31 54
data:
$ID,512
$MISSION,2
$DIVE,322
$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,-39372.137
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,192231,2257.636,-15813.780,13,1.4,18,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-78.7
$GPS2,193056,2257.644,-15813.831,18,1.3,18,10.1
$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,-227953.1,-678.3,-318.5,197577.5,-863.1
$KALMAN_Y,8852.5,-372.2,-788.7,93057.4,423.4
$MHEAD_RNG_PITCHd_Wd,104.8,117423,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.78,-136.3,0.0,0.0,0,105,0.00,0.00,-82.88,0.000,2,0.000,0.000,37,2476,3233
$GC,110,-0.78,-136.3,3.2,-4.7,11,127,8.18,0.00,-1.55,0.000,6,0.198,0.000,2273,2476,3317
$GC,399,-0.78,-136.3,79.3,-22.0,42,403,0.00,1.98,0.00,0.000,4,0.000,0.022,2273,1093,3317
$GC,418,-0.78,-136.3,84.8,-19.1,43,425,0.00,2.12,0.00,0.000,6,0.000,0.040,2264,2493,3318
$GC,683,-0.78,-136.3,125.8,-15.2,68,686,0.00,2.12,0.00,0.000,4,0.000,0.043,2253,3900,3318
$GC,743,-0.78,-136.3,134.7,-14.5,73,746,0.00,2.00,0.00,0.000,6,0.000,0.019,2253,2487,3318
$GC,1013,-0.78,-136.3,177.3,-15.3,98,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2480,3319
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1189,begin apogee
$GC,1201,-0.27,0.0,200.4,11.5,115,1310,0.60,0.00,105.68,0.693,6,0.123,0.000,2444,2479,2760
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1316,0.78,136.3,203.9,0.0,118,1434,0.88,2.15,111.28,0.681,4,0.027,0.021,2813,1071,2203
$GC,1510,0.78,136.3,178.3,22.3,127,1517,0.00,2.15,0.00,0.000,6,0.000,0.028,2809,2487,2198
$GC,1774,0.78,136.3,128.0,16.4,152,1778,0.00,2.10,0.00,0.000,4,0.000,0.036,2809,3893,2196
$GC,1835,0.78,136.3,118.1,15.9,157,1839,0.15,2.03,0.00,0.000,6,0.215,0.019,2786,2473,2195
$GC,2105,0.78,136.3,79.3,13.9,182,2109,0.00,2.15,0.00,0.000,4,0.000,0.036,2781,3907,2194
$GC,2165,0.78,136.3,69.9,16.1,187,2169,0.00,2.03,0.00,0.000,6,0.000,0.020,2790,2477,2194
$GC,2438,0.79,146.6,40.4,9.6,212,2452,0.00,2.12,7.95,0.512,4,0.000,0.037,2781,3891,2162
$GC,2523,0.79,146.6,30.7,12.1,219,2527,0.00,2.00,0.00,0.000,6,0.000,0.018,2790,2474,2162
$STATE,2750,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,0.4,1.023383
$STATE,2773,end surface coast,CONTROL_FINISHED_OK
$STATE,2773,begin surface
$SM_CCo,2799,118.68,0.563,0,0,1087,410.13
$SM_GC,1.13,0.00,0.00,118.68,0.000,0.000,0.563,38,2464,1087,-7.79,-1.02,410.13
$IRIDIUM_FIX,2248.70,-15813.22,291100,181806
$TT8_MAMPS,0.02301
$HUMID,2135
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.70
$XPDR_PINGS,15
$24V_AH,25.0,35.025
$10V_AH,10.9,27.352
$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,16.800,24.950,224.900,118.675,0.000,28.705,32.965,295.246,3.750,0.000,0.000,23.375,487.876,1009.701,390.541,956.304,591.460,33.346,704.249,0.000,970.928,0.000,0.550,0.000
$DEVICE_MAMPS,214.760,42.952,692.601,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,177.163,584.830,602.799,141.728,632.723,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22456,264
$CAP_FILE_SIZE,35429,0
$CFSIZE,260165632,205500416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,1
$GPS,050911,202132,2257.524,-15813.820,12,1.5,12,10.1