version: 66.04
glider: 512
mission: 2
dive: 331
start: 9 6 111 4 39 12
data:
$ID,512
$MISSION,2
$DIVE,331
$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,-39552.359
$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,61
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2780
$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
$GPS1,042854,2257.524,-15814.058,28,1.1,45,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-80.9
$GPS2,043819,2257.533,-15814.150,11,1.5,16,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,0.046
$KALMAN_X,-237694.1,121.1,327.2,205318.2,-1389.2
$KALMAN_Y,10765.6,698.5,154.3,88927.2,-198.5
$MHEAD_RNG_PITCHd_Wd,69.4,117975,-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,-136.2,0.0,0.0,0,104,0.00,0.00,-82.95,0.000,2,0.000,0.000,37,2478,3285
$GC,111,-0.78,-136.3,4.0,-6.8,11,128,8.18,2.12,-0.88,0.000,4,0.198,0.042,2265,3897,3337
$GC,150,-0.78,-136.3,23.6,-49.9,16,158,0.00,2.03,0.00,0.000,6,0.000,0.021,2265,2509,3338
$GC,417,-0.78,-136.3,85.3,-19.4,42,421,0.00,2.03,0.00,0.000,4,0.000,0.022,2265,1084,3338
$GC,444,-0.78,-136.3,89.8,-17.3,44,448,0.00,2.10,0.00,0.000,6,0.000,0.035,2262,2489,3338
$GC,717,-0.78,-136.3,124.5,-12.0,69,721,0.00,2.00,0.00,0.000,4,0.000,0.021,2263,1082,3338
$GC,745,-0.78,-136.3,128.3,-12.8,71,749,0.00,2.12,0.00,0.000,6,0.000,0.035,2252,2511,3338
$GC,1016,-0.78,-136.3,164.9,-14.0,96,1020,0.00,2.05,0.00,0.000,4,0.000,0.021,2252,1084,3339
$GC,1054,-0.78,-136.3,170.2,-12.3,99,1058,0.00,2.12,0.00,0.000,6,0.000,0.038,2249,2498,3339
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1309,-0.27,0.0,200.9,11.1,122,1420,0.57,0.00,105.40,0.706,6,0.124,0.000,2441,2499,2780
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1427,0.78,136.3,205.6,0.0,125,1545,0.90,2.20,111.53,0.692,4,0.044,0.038,2796,3908,2223
$GC,1582,0.78,136.3,196.1,22.0,129,1586,0.00,2.10,0.00,0.000,6,0.000,0.020,2805,2463,2219
$GC,1853,0.78,136.3,143.3,18.3,154,1856,0.00,2.20,0.00,0.000,4,0.000,0.036,2806,3904,2215
$GC,1871,0.78,136.3,139.4,17.9,155,1878,0.10,2.08,0.00,0.000,6,0.208,0.021,2790,2477,2215
$GC,2135,0.78,136.3,95.5,15.4,180,2139,0.00,2.00,0.00,0.000,4,0.000,0.023,2798,1071,2213
$GC,2394,0.82,166.8,63.4,8.6,203,2423,0.00,2.10,23.95,0.601,6,0.000,0.029,2793,2506,2098
$GC,2689,0.82,166.8,31.5,11.9,230,2693,0.00,2.03,0.00,0.000,4,0.000,0.023,2802,1080,2093
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,0.3,1.002018
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2967,108.05,0.573,0,0,1108,410.13
$SM_GC,1.04,0.00,0.00,108.05,0.000,0.000,0.573,37,2493,1108,-7.79,-0.20,410.13
$IRIDIUM_FIX,2248.70,-15813.22,301100,030302
$TT8_MAMPS,0.02301
$HUMID,2154
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,24.20
$XPDR_PINGS,15
$24V_AH,25.0,35.829
$10V_AH,10.9,28.009
$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,16.800,33.425,240.875,108.050,0.000,28.606,33.055,340.267,3.750,0.000,0.000,17.046,510.918,1093.209,400.626,994.845,648.651,33.336,725.732,0.000,1006.755,0.000,0.547,0.000
$DEVICE_MAMPS,207.857,42.185,706.407,572.949,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,184.624,605.650,623.298,144.410,651.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22470,275
$CAP_FILE_SIZE,37733,0
$CFSIZE,260165632,205250560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,060911,053126,2257.383,-15814.137,10,1.8,10,10.1