version: 66.04
glider: 512
mission: 2
dive: 337
start: 9 6 111 11 28 56
data:
$ID,512
$MISSION,2
$DIVE,337
$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,-39695.133
$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,65
$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
$GPS1,111902,2257.518,-15815.226,15,1.9,15,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-79.9
$GPS2,112756,2257.588,-15815.269,13,1.8,13,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,-0.177
$KALMAN_X,-245379.2,815.3,-283.1,211004.0,-1181.6
$KALMAN_Y,12001.0,-341.1,-6.4,88989.2,682.1
$MHEAD_RNG_PITCHd_Wd,124.3,119875,-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,-136.3,0.0,0.0,0,104,0.00,0.00,-83.00,0.000,2,0.000,0.000,39,2490,3272
$GC,110,-0.78,-136.3,3.6,-5.9,11,126,8.20,0.00,-1.15,0.000,6,0.198,0.000,2277,2490,3338
$GC,393,-0.78,-136.3,71.2,-18.1,42,397,0.00,2.00,0.00,0.000,4,0.000,0.021,2277,1094,3338
$GC,431,-0.78,-136.3,78.5,-15.7,45,435,0.00,2.10,0.00,0.000,6,0.000,0.037,2276,2498,3338
$GC,702,-0.78,-136.3,114.4,-11.2,70,706,0.00,2.12,0.00,0.000,4,0.000,0.044,2266,3895,3338
$GC,744,-0.78,-136.3,119.5,-11.2,73,751,0.00,2.00,0.00,0.000,6,0.000,0.020,2266,2504,3338
$GC,1008,-0.78,-136.3,151.0,-12.1,98,1012,0.00,2.00,0.00,0.000,4,0.000,0.023,2266,1091,3339
$GC,1084,-0.78,-136.3,159.7,-10.8,104,1091,0.00,2.12,0.00,0.000,6,0.000,0.035,2263,2496,3338
$GC,1348,-0.78,-136.3,190.7,-11.4,129,1352,0.00,2.00,0.00,0.000,4,0.000,0.021,2263,1101,3339
$GC,1374,-0.78,-136.3,193.6,-11.2,131,1378,0.00,2.10,0.00,0.000,6,0.000,0.035,2263,2510,3338
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1438,begin apogee
$GC,1450,-0.27,0.0,200.6,10.2,137,1560,0.55,0.00,105.60,0.700,6,0.102,0.000,2448,2510,2780
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1566,0.78,136.3,205.0,0.0,140,1684,0.85,2.15,111.47,0.688,4,0.041,0.021,2796,1074,2222
$GC,1938,0.78,136.3,155.8,14.7,161,1946,0.00,2.12,0.00,0.000,6,0.000,0.028,2795,2495,2216
$GC,2203,0.78,136.3,114.9,17.0,186,2206,0.00,2.03,0.00,0.000,4,0.000,0.023,2804,1077,2214
$GC,2463,0.78,136.3,78.7,12.1,209,2466,0.00,2.05,0.00,0.000,6,0.000,0.028,2805,2481,2213
$GC,2734,0.84,185.2,52.3,7.7,234,2778,0.00,2.08,38.15,0.601,4,0.000,0.032,2815,1076,2024
$GC,3032,0.84,185.2,14.3,15.2,270,3040,0.00,2.10,0.00,0.000,6,0.000,0.028,2809,2487,2019
$STATE,3104,end climb,SURFACE_DEPTH_REACHED
$STATE,3104,begin surface coast
$FINISH,0.4,1.010672
$STATE,3128,end surface coast,CONTROL_FINISHED_OK
$STATE,3128,begin surface
$SM_CCo,3153,99.55,0.568,0,0,1107,410.13
$SM_GC,1.11,0.00,0.00,99.55,0.000,0.000,0.568,34,2487,1107,-7.80,-0.34,410.13
$IRIDIUM_FIX,2248.70,-15813.22,301100,101029
$TT8_MAMPS,0.023777
$HUMID,2148
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.60
$XPDR_PINGS,9
$24V_AH,25.0,36.412
$10V_AH,10.9,28.499
$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,16.700,28.975,255.225,99.550,0.000,28.193,34.415,315.248,2.250,0.000,0.000,13.142,538.324,1137.264,383.950,1107.794,633.850,33.339,765.732,0.000,1120.388,0.000,0.548,0.000
$DEVICE_MAMPS,197.886,44.486,699.504,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,192.404,634.341,652.134,146.675,667.797,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25565,287
$CAP_FILE_SIZE,39156,0
$CFSIZE,260165632,205049856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,060911,122428,2257.600,-15815.408,11,2.4,30,10.1