version: 66.04
glider: 502
mission: 2
dive: 6
start: 9 17 109 2 55 22
data:
$ID,502
$MISSION,2
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51342
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2122.3855
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3012
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2248
$C_ROLL_CLIMB,2086
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,3425
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.419655
$PRESSURE_SLOPE,0.00011650941
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,024734,4806.539,-12222.676,11,3.4,30,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.3
$GPS2,025426,4806.550,-12222.710,15,1.6,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVENEW
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.198,-0.169
$KALMAN_X,-823.5,-148.0,-64.5,127.1,-157.1
$KALMAN_Y,967.5,293.2,82.8,-1222.2,2.9
$MHEAD_RNG_PITCHd_Wd,112.1,3566,-17.5,-10.000
$D_GRID,105
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.6,0.0,0.0,0,83,0.00,0.00,-67.00,0.000,2,0.000,0.000,424,2269,3756
$GC,86,-0.73,-146.6,4.2,-5.7,12,105,9.25,2.25,-3.95,0.000,4,0.239,0.062,2770,835,3964
$GC,271,-0.73,-146.6,39.0,-15.2,53,277,0.00,2.20,0.00,0.000,6,0.000,0.044,2761,2251,3965
$GC,346,-0.73,-146.6,50.7,-15.6,69,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2251,3965
$GC,487,-0.73,-146.6,73.6,-16.3,100,493,0.00,2.22,0.00,0.000,4,0.000,0.051,2761,831,3965
$GC,533,-0.73,-146.6,81.4,-16.2,110,539,0.00,2.20,0.00,0.000,6,0.000,0.044,2751,2256,3965
$STATE,672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,672,begin apogee
$GC,676,-0.16,0.0,105.3,16.9,140,781,0.65,0.00,99.15,0.662,6,0.140,0.000,2959,2072,3425
$STATE,782,end apogee,CONTROL_FINISHED_OK
$STATE,782,begin climb
$GC,783,0.73,146.6,109.9,0.0,159,900,0.77,0.00,111.18,0.642,6,0.074,0.000,3239,2072,2826
$GC,1038,0.73,146.6,84.3,14.3,210,1044,0.00,2.28,0.00,0.000,4,0.000,0.050,3238,3498,2823
$GC,1098,0.73,146.6,75.1,15.2,223,1104,0.00,2.22,0.00,0.000,6,0.000,0.048,3247,2096,2821
$GC,1242,0.73,146.6,54.9,12.7,254,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2095,2821
$GC,1383,0.73,146.6,33.4,13.9,285,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2095,2821
$GC,1455,0.73,146.6,24.7,11.4,301,1462,0.00,2.20,0.00,0.000,4,0.000,0.050,3247,3500,2821
$GC,1493,0.73,146.6,17.8,24.8,309,1500,0.00,2.22,0.00,0.000,6,0.000,0.048,3253,2081,2820
$GC,1566,0.73,146.6,9.2,12.2,325,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2081,2819
$GC,1637,0.75,167.8,4.3,9.0,341,1661,0.00,2.28,16.12,0.572,4,0.000,0.057,3260,681,2739
$GC,1741,1.00,368.2,4.7,0.8,363,1829,0.20,2.17,81.35,0.585,2,0.054,0.042,3355,2094,2218
$STATE,1830,end climb,SURFACE_DEPTH_REACHED
$STATE,1830,begin surface coast
$FINISH,0.6,0.999996
$STATE,1879,end surface coast,CONTROL_FINISHED_OK
$STATE,1879,begin surface
$SM_CCo,1893,36.38,0.558,0,0,1873,380.21
$SM_GC,2.54,0.00,0.00,36.38,0.000,0.000,0.558,432,2259,1873,-8.06,0.31,380.21
$IRIDIUM_FIX,4754.94,-12007.94,121298,020244
$TT8_MAMPS,0.028379
$HUMID,2176
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,19.20
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,95.7,6.3
$24V_AH,24.5,4.805
$10V_AH,10.7,1.793
$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,18.625,22.775,307.800,36.375,0.000,28.218,26.127,271.185,12.250,0.000,0.000,15.388,571.399,387.806,366.178,638.968,396.140,33.326,740.147,0.000,625.943,0.000,10.095,0.000
$DEVICE_MAMPS,238.537,62.127,661.921,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,258.248,455.547,396.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25512,389
$CAP_FILE_SIZE,43272,0
$CFSIZE,260165632,258633728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,032814,4806.352,-12222.534,9,1.1,9,18.3