version: 66.04
glider: 512
mission: 2
dive: 344
start: 9 6 111 19 1 14
data:
$ID,512
$MISSION,2
$DIVE,344
$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,-39821.16
$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,69
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,185134,2257.530,-15814.881,9,3.5,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-79.3
$GPS2,190014,2257.532,-15814.914,13,1.5,13,10.1
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15705.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.028
$KALMAN_X,-250277.0,-499.7,223.2,217316.2,-973.6
$KALMAN_Y,14072.2,-386.5,-713.4,87568.5,112.5
$MHEAD_RNG_PITCHd_Wd,86.3,119276,-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,-136.2,0.0,0.0,0,104,0.00,0.00,-83.03,0.000,2,0.000,0.000,39,2481,3243
$GC,110,-0.78,-136.3,3.5,-5.2,11,127,8.15,2.12,-1.17,0.000,4,0.198,0.043,2259,3903,3308
$GC,210,-0.78,-136.3,37.7,-20.2,25,218,0.00,2.03,0.00,0.000,6,0.000,0.020,2259,2512,3309
$GC,474,-0.78,-136.3,91.3,-18.6,50,477,0.00,2.03,0.00,0.000,4,0.000,0.024,2258,1095,3309
$GC,548,-0.78,-136.3,102.9,-12.3,56,557,0.00,2.10,0.00,0.000,6,0.000,0.035,2249,2481,3309
$GC,814,-0.78,-136.3,140.5,-13.5,81,818,0.00,2.15,0.00,0.000,4,0.000,0.044,2238,3898,3309
$GC,918,-0.78,-136.3,156.5,-15.5,90,922,0.15,2.00,0.00,0.000,6,0.142,0.019,2279,2482,3309
$GC,1190,-0.78,-136.3,192.5,-12.9,115,1194,0.00,1.95,0.00,0.000,4,0.000,0.023,2280,1101,3310
$STATE,1246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1259,-0.27,0.0,200.2,11.1,120,1368,0.50,0.00,106.10,0.700,6,0.134,0.000,2442,2479,2750
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1375,0.78,136.3,204.4,0.0,123,1499,0.85,2.28,111.18,0.685,4,0.028,0.038,2793,3900,2192
$GC,1603,0.78,136.3,168.6,23.8,135,1607,0.00,2.05,0.00,0.000,6,0.000,0.018,2802,2470,2189
$GC,1874,0.78,136.3,112.2,18.7,160,1878,0.00,2.17,0.00,0.000,4,0.000,0.034,2794,3903,2186
$GC,2033,0.78,136.3,86.1,13.7,174,2037,0.00,2.03,0.00,0.000,6,0.000,0.019,2802,2476,2185
$GC,2305,0.78,136.3,53.3,13.4,199,2309,0.00,2.15,0.00,0.000,4,0.000,0.036,2804,3901,2184
$GC,2322,0.78,136.3,50.9,12.9,200,2326,0.12,2.03,0.00,0.000,6,0.219,0.019,2788,2470,2184
$GC,2592,0.79,143.8,23.0,9.7,230,2608,0.00,2.20,6.00,0.458,4,0.000,0.036,2781,3914,2163
$GC,2721,0.79,143.8,7.4,12.8,252,2729,0.00,2.08,0.00,0.000,6,0.000,0.025,2790,2478,2162
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2756,begin surface coast
$FINISH,0.4,1.023077
$STATE,2779,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2803,123.30,0.567,0,0,1077,410.13
$SM_GC,1.10,0.00,0.00,123.30,0.000,0.000,0.567,36,2467,1077,-7.79,-0.93,410.13
$IRIDIUM_FIX,2248.70,-15813.22,301100,181807
$TT8_MAMPS,0.02301
$HUMID,2129
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.90
$XPDR_PINGS,15
$24V_AH,25.0,37.029
$10V_AH,10.9,29.039
$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,16.800,33.450,223.275,123.300,0.000,22.753,32.063,309.771,3.750,0.000,0.000,14.005,493.502,980.308,392.988,986.154,610.090,33.332,736.041,0.000,999.943,0.000,0.548,0.000
$DEVICE_MAMPS,218.595,43.719,700.271,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,175.654,580.313,598.305,142.048,639.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22579,262
$CAP_FILE_SIZE,37419,0
$CFSIZE,260165632,204824576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,060911,195102,2257.457,-15814.865,12,1.4,12,10.1