version: 66.04
glider: 512
mission: 2
dive: 341
start: 9 6 111 15 49 2
data:
$ID,512
$MISSION,2
$DIVE,341
$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,-39774.473
$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,72
$R_STBD_OVSHOOT,43
$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
$GPS1,153920,2257.579,-15815.114,9,1.6,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-79.9
$GPS2,154802,2257.586,-15815.163,13,1.6,13,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,0.025
$KALMAN_X,-248496.1,43.2,435.1,214356.5,-967.6
$KALMAN_Y,13265.5,-682.3,906.8,87150.4,-99.2
$MHEAD_RNG_PITCHd_Wd,74.2,119696,-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,-83.10,0.000,2,0.000,0.000,38,2491,3318
$GC,110,-0.78,-136.3,4.1,-7.9,11,127,8.18,2.10,-0.28,0.000,4,0.199,0.043,2261,3901,3336
$GC,139,-0.78,-136.3,19.4,-41.8,14,147,0.00,2.03,0.00,0.000,6,0.000,0.020,2261,2515,3337
$GC,407,-0.78,-136.3,74.2,-17.1,41,411,0.00,2.03,0.00,0.000,4,0.000,0.024,2261,1097,3337
$GC,478,-0.78,-136.3,84.5,-11.4,47,482,0.00,2.05,0.00,0.000,6,0.000,0.034,2251,2486,3337
$GC,748,-0.78,-136.3,122.6,-14.7,72,752,0.00,2.15,0.00,0.000,4,0.000,0.042,2240,3908,3338
$GC,788,-0.78,-136.3,128.7,-16.5,75,793,0.12,2.03,0.00,0.000,6,0.133,0.020,2275,2485,3337
$GC,1061,-0.78,-136.3,163.0,-11.6,100,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2478,3337
$GC,1326,-0.78,-136.3,191.4,-10.7,125,1329,0.00,2.17,0.00,0.000,4,0.000,0.044,2266,3899,3338
$GC,1353,-0.78,-136.3,194.4,-11.3,127,1357,0.00,1.98,0.00,0.000,6,0.000,0.020,2265,2495,3338
$STATE,1406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1406,begin apogee
$GC,1418,-0.27,0.0,200.7,10.5,132,1529,0.55,0.00,105.35,0.703,6,0.147,0.000,2443,2486,2780
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1535,0.78,136.3,205.4,0.0,135,1653,0.85,2.20,111.32,0.686,4,0.034,0.035,2782,3903,2223
$GC,1769,0.78,136.3,179.9,19.8,144,1773,0.00,2.05,0.00,0.000,6,0.000,0.018,2790,2479,2219
$GC,2042,0.78,136.3,129.9,17.1,169,2045,0.00,2.17,0.00,0.000,4,0.000,0.036,2782,3905,2216
$GC,2302,0.78,136.3,84.8,17.1,192,2306,0.00,2.03,0.00,0.000,6,0.000,0.019,2790,2481,2216
$GC,2573,0.78,136.3,50.8,11.2,217,2577,0.00,2.00,0.00,0.000,4,0.000,0.023,2801,1066,2213
$GC,2791,0.81,163.3,31.1,8.7,236,2821,0.00,2.10,21.23,0.573,6,0.000,0.029,2793,2502,2113
$STATE,3020,end climb,SURFACE_DEPTH_REACHED
$STATE,3020,begin surface coast
$FINISH,0.3,1.010296
$STATE,3044,end surface coast,CONTROL_FINISHED_OK
$STATE,3044,begin surface
$SM_CCo,3069,111.62,0.565,0,0,1107,410.13
$SM_GC,1.11,0.00,0.00,111.62,0.000,0.000,0.565,36,2502,1107,-7.80,0.06,410.13
$IRIDIUM_FIX,2246.36,-15814.09,301100,141456
$TT8_MAMPS,0.022243
$HUMID,2143
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.70
$XPDR_PINGS,14
$24V_AH,25.0,36.761
$10V_AH,10.9,28.811
$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,16.675,29.075,237.900,111.625,0.000,26.063,36.576,303.460,3.500,0.000,0.000,13.192,528.230,1117.941,381.993,1068.290,621.319,33.334,750.432,0.000,1082.582,0.000,0.546,0.000
$DEVICE_MAMPS,198.653,43.719,702.572,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,187.942,619.769,639.441,148.646,666.364,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25637,280
$CAP_FILE_SIZE,38353,0
$CFSIZE,260165632,204918784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,060911,164330,2257.560,-15815.062,39,1.4,39,10.1