version: 66.04
glider: 502
mission: 2
dive: 4
start: 5 21 109 2 26 8
data:
$ID,502
$MISSION,2
$DIVE,4
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,51245
$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,700
$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,-1888.5465
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,3410
$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,-71.658096
$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
$GPS1,021824,4806.254,-12222.462,37,1.6,37,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.2
$GPS2,022514,4806.188,-12222.411,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.241
$KALMAN_X,21.6,30.2,25.6,-616.9,1.1
$KALMAN_Y,-414.4,-288.4,-227.9,1047.6,-84.8
$MHEAD_RNG_PITCHd_Wd,319.6,1671,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-52.55,0.000,2,0.000,0.000,441,2472,2090
$GC,71,-0.73,-146.6,3.0,-3.4,10,147,8.00,2.35,-58.17,0.000,4,0.236,0.074,2503,1056,3964
$GC,208,-0.73,-146.6,7.1,-4.8,37,214,0.00,2.28,0.00,0.000,6,0.000,0.054,2503,2476,3964
$GC,284,-0.73,-146.6,11.0,-5.2,53,290,0.00,2.10,0.00,0.000,4,0.000,0.069,2503,3771,3965
$GC,350,-0.73,-146.6,15.0,-6.0,67,356,0.00,2.05,0.00,0.000,6,0.000,0.048,2503,2463,3965
$GC,426,-0.73,-146.6,19.7,-6.4,83,432,0.00,2.22,0.00,0.000,4,0.000,0.060,2503,1061,3965
$GC,460,-0.73,-146.6,22.2,-7.3,90,466,0.00,2.25,0.00,0.000,6,0.000,0.054,2503,2479,3966
$GC,536,-0.73,-146.6,27.8,-7.1,106,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2480,3966
$GC,611,-0.73,-146.6,33.3,-7.1,122,617,0.00,2.28,0.00,0.000,4,0.000,0.060,2503,1055,3966
$GC,669,-0.73,-146.6,37.8,-7.7,134,675,0.00,2.25,0.00,0.000,6,0.000,0.054,2503,2479,3966
$GC,745,-0.73,-146.6,43.5,-7.4,150,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2478,3966
$GC,889,-0.73,-146.6,53.8,-7.0,181,895,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1059,3967
$GC,933,-0.73,-146.6,57.1,-7.6,190,939,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2470,3966
$GC,1080,-0.73,-146.6,67.4,-6.7,221,1086,0.00,2.22,0.00,0.000,4,0.000,0.060,2503,1063,3966
$GC,1114,-0.73,-146.6,69.9,-7.1,228,1120,0.00,2.22,0.00,0.000,6,0.000,0.053,2503,2480,3966
$GC,1260,-0.73,-146.6,79.4,-6.6,259,1266,0.00,2.25,0.00,0.000,4,0.000,0.060,2503,1058,3967
$GC,1299,-0.73,-146.6,82.2,-6.9,267,1305,0.00,2.22,0.00,0.000,6,0.000,0.053,2503,2477,3966
$GC,1444,-0.73,-146.6,91.6,-6.4,298,1450,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1053,3966
$GC,1474,-0.73,-146.6,93.7,-7.0,304,1480,0.00,2.22,0.00,0.000,6,0.000,0.053,2503,2471,3966
$GC,1620,-0.73,-146.6,103.1,-6.8,335,1626,0.00,2.22,0.00,0.000,4,0.000,0.059,2503,1062,3966
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1653,-0.16,0.0,105.1,6.5,341,1760,0.52,0.00,102.68,0.680,6,0.106,0.000,2686,2477,3410
$STATE,1761,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1762,0.73,146.6,108.5,0.0,361,1881,0.77,2.25,112.18,0.651,4,0.061,0.064,2976,3758,2811
$GC,1932,0.73,146.6,101.1,10.6,394,1938,0.00,2.08,0.00,0.000,6,0.000,0.050,2985,2473,2809
$GC,2078,0.73,146.6,86.4,10.1,425,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2473,2809
$GC,2222,0.73,146.6,71.5,10.1,456,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2473,2808
$GC,2366,0.73,149.0,57.1,9.9,487,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2473,2808
$GC,2511,0.74,158.3,43.3,9.6,518,2523,0.00,0.00,9.68,0.589,6,0.000,0.000,2985,2473,2764
$GC,2663,0.77,179.6,28.9,9.0,550,2685,0.00,0.00,17.12,0.615,6,0.000,0.000,2985,2473,2677
$GC,2754,0.77,179.6,19.7,10.1,569,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2474,2676
$GC,2829,0.77,179.6,12.3,10.2,585,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2473,2676
$GC,2904,0.81,213.1,5.3,8.5,601,2916,0.00,0.00,10.35,0.581,2,0.000,0.000,2985,2473,2628
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,3.6,1.016623
$STATE,2981,end surface coast,CONTROL_FINISHED_OK
$STATE,2982,begin surface
$SM_CCo,2994,360.00,0.594,0,1,622,683.39
$SM_CCo,3357,12.90,0.509,0,0,556,700.07
$SM_GC,1.91,0.00,0.00,12.90,0.000,0.000,0.509,444,2473,556,-7.18,0.08,700.07
$IRIDIUM_FIX,4748.51,-12220.12,150898,010127
$TT8_MAMPS,0.026845
$HUMID,2032
$INTERNAL_PRESSURE,9.01173
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,60.3,9.2
$24V_AH,24.3,1.551
$10V_AH,10.7,0.520
$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,16.225,44.450,252.000,372.900,0.000,28.740,34.783,267.024,1.750,0.000,0.000,14.275,906.998,837.533,735.917,918.140,398.169,32.330,1263.386,0.000,906.919,0.000,8.781,0.000
$DEVICE_MAMPS,236.236,73.632,680.329,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15834,617
$CAP_FILE_SIZE,66546,7
$CFSIZE,260165632,258670592
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0
$GPS,210509,033234,4806.254,-12222.518,564,5.4,583,18.3