version: 66.04
glider: 502
mission: 1
dive: 4
start: 5 20 109 1 30 32
data:
$ID,502
$MISSION,1
$DIVE,4
$D_SURF,4.5
$D_FLARE,3
$D_TGT,45
$D_ABORT,200
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.898
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,668.43158
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1082.3195
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,2756
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$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,2470
$C_ROLL_CLIMB,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3958
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$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,-71.475204
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.35
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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
$GPS1,011537,4807.743,-12223.241,8,1.8,8,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.5
$GPS2,012938,4807.699,-12223.159,16,1.1,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.252
$KALMAN_X,-362.9,-118.7,-98.9,-160.2,-23.9
$KALMAN_Y,-380.9,-372.2,-326.2,-914.0,1.8
$MHEAD_RNG_PITCHd_Wd,147.3,1309,-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,13,begin dive
$GC,14,-0.88,-146.6,0.0,0.0,0,95,0.00,0.00,-78.25,0.000,2,0.000,0.000,443,2471,2812
$GC,97,-0.88,-146.6,3.2,-3.8,15,142,7.85,2.28,-30.55,0.000,4,0.239,0.072,2469,1058,3799
$GC,347,-0.88,-146.6,6.4,-1.9,67,353,0.00,2.25,0.00,0.000,6,0.000,0.056,2465,2470,3800
$GC,423,-0.88,-146.6,8.3,-2.8,83,428,0.00,2.10,0.00,0.000,4,0.000,0.071,2463,3770,3800
$GC,693,-0.88,-146.6,20.7,-4.5,141,699,0.00,2.03,0.00,0.000,6,0.000,0.049,2463,2467,3800
$GC,769,-0.88,-146.6,24.2,-4.5,157,774,0.00,2.22,0.00,0.000,4,0.000,0.060,2463,1053,3801
$GC,826,-0.88,-146.6,27.0,-5.1,169,832,0.00,2.25,0.00,0.000,6,0.000,0.056,2463,2478,3800
$GC,902,-0.88,-146.6,30.3,-4.7,185,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2478,3800
$STATE,911,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,911,begin apogee
$GC,914,-0.20,0.0,30.7,4.1,187,1031,0.68,0.00,109.40,0.613,6,0.127,0.000,2687,2479,3199
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1033,0.88,146.6,28.9,0.0,209,1150,1.00,0.00,110.80,0.582,6,0.081,0.000,3038,2478,2601
$STATE,1205,end climb,SURFACE_DEPTH_REACHED
$STATE,1205,begin surface coast
$FINISH,3.2,1.017278
$STATE,1238,end surface coast,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$SM_CCo,1251,318.02,0.560,0,0,475,668.43
$SM_GC,1.11,0.00,0.00,318.02,0.000,0.000,0.560,443,2479,475,-7.23,0.25,668.43
$IRIDIUM_FIX,4748.51,-12221.84,140898,010145
$TT8_MAMPS,0.026845
$HUMID,1950
$INTERNAL_PRESSURE,9.03126
$TCM_TEMP,18.90
$XPDR_PINGS,3
$24V_AH,24.4,0.861
$10V_AH,10.8,0.294
$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,16.700,13.125,220.200,318.025,0.000,148.320,375.787,0.000,0.750,0.000,0.000,16.336,348.718,528.322,596.137,385.385,565.964,32.338,850.541,0.000,378.941,0.000,1.004,0.000
$DEVICE_MAMPS,239.304,72.098,612.833,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6433,250
$CAP_FILE_SIZE,27250,0
$CFSIZE,260165632,258719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,015719,4807.583,-12223.096,7,1.1,13,18.3