version: 66.04
glider: 502
mission: 2
dive: 9
start: 9 17 109 4 56 11
data:
$ID,502
$MISSION,2
$DIVE,9
$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,-2187.2449
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,044956,4805.956,-12222.222,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.0
$GPS2,045515,4805.954,-12222.228,11,2.0,18,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVENEW
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.211,-0.152
$KALMAN_X,-1329.6,-222.2,-117.7,1355.8,-141.1
$KALMAN_Y,1118.8,252.6,-83.2,-2268.8,-35.0
$MHEAD_RNG_PITCHd_Wd,107.6,2330,-17.5,-10.000
$D_GRID,107
$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,13,-0.73,-146.6,0.0,0.0,0,127,0.00,0.00,-110.80,0.000,2,0.000,0.000,428,2236,3314
$GC,129,-0.73,-146.6,3.1,-5.7,20,160,9.45,2.22,-14.57,0.000,4,0.248,0.067,2768,829,3965
$GC,356,-0.73,-146.6,38.4,-16.1,70,362,0.00,2.20,0.00,0.000,6,0.000,0.043,2760,2248,3966
$GC,431,-0.73,-146.6,50.4,-16.5,86,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2247,3966
$GC,574,-0.73,-146.6,73.8,-17.0,117,580,0.00,2.22,0.00,0.000,4,0.000,0.052,2760,832,3966
$GC,644,-0.73,-146.6,85.1,-17.1,131,650,0.00,2.20,0.00,0.000,6,0.000,0.043,2749,2252,3966
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,771,-0.16,0.0,107.4,17.4,158,877,0.62,0.00,99.93,0.659,6,0.141,0.000,2951,2070,3424
$STATE,877,end apogee,CONTROL_FINISHED_OK
$STATE,877,begin climb
$GC,879,0.73,146.6,112.5,0.0,177,1001,0.80,2.35,111.78,0.646,4,0.075,0.054,3248,689,2825
$GC,1007,0.73,146.6,103.2,12.1,200,1013,0.00,2.25,0.00,0.000,6,0.000,0.041,3248,2086,2825
$GC,1151,0.73,146.6,81.7,14.5,231,1157,0.00,2.25,0.00,0.000,4,0.000,0.051,3248,3500,2822
$GC,1226,0.73,146.6,69.4,16.7,247,1232,0.00,2.22,0.00,0.000,6,0.000,0.048,3255,2097,2821
$GC,1369,0.73,146.6,47.7,15.1,278,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2096,2821
$GC,1508,0.73,146.6,27.1,14.7,309,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2096,2821
$GC,1580,0.73,146.6,16.7,13.8,325,1587,0.00,2.25,0.00,0.000,4,0.000,0.058,3265,677,2820
$GC,1598,0.73,146.6,14.4,14.2,328,1605,0.00,2.20,0.00,0.000,6,0.000,0.043,3264,2100,2820
$GC,1672,0.73,152.8,4.8,9.7,344,1684,0.00,2.20,5.40,0.474,4,0.000,0.052,3265,3503,2801
$GC,1738,1.03,396.1,4.9,-1.2,358,1837,0.20,2.22,92.70,0.591,2,0.057,0.046,3366,2071,2236
$STATE,1838,end climb,SURFACE_DEPTH_REACHED
$STATE,1838,begin surface coast
$FINISH,0.2,1.005171
$STATE,1918,end surface coast,CONTROL_FINISHED_OK
$STATE,1918,begin surface
$SM_CCo,1932,39.25,0.566,0,0,1874,380.21
$SM_GC,1.29,0.00,0.00,39.25,0.000,0.000,0.566,428,2266,1874,-8.07,0.54,380.21
$IRIDIUM_FIX,4748.51,-12224.57,121298,040442
$TT8_MAMPS,0.028379
$HUMID,2152
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,19.10
$XPDR_PINGS,42
$ALTIM_BOTTOM_PING,85.1,6.3
$24V_AH,24.4,5.054
$10V_AH,10.7,1.912
$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,18.850,27.375,309.800,39.250,0.000,27.901,25.954,182.848,11.250,0.000,0.000,18.540,562.408,388.125,411.050,649.705,299.858,33.339,801.594,0.000,634.996,0.000,6.992,0.000
$DEVICE_MAMPS,247.741,66.729,658.853,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,259.862,465.661,403.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25472,393
$CAP_FILE_SIZE,40647,0
$CFSIZE,260165632,258535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,053006,4805.771,-12222.055,14,1.4,30,18.3