version: 66.04
glider: 502
mission: 2
dive: 5
start: 5 21 109 3 57 23
data:
$ID,502
$MISSION,2
$DIVE,5
$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,-1941.24
$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
$GPS1,033234,4806.254,-12222.518,564,5.4,583,18.3
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-60.8
$GPS2,035628,4806.030,-12222.289,31,2.8,50,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.235
$KALMAN_X,185.9,140.2,41.4,-762.8,-3.8
$KALMAN_Y,-809.8,-540.2,-248.3,1433.6,-11.3
$MHEAD_RNG_PITCHd_Wd,316.5,2000,-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,-52.72,0.000,2,0.000,0.000,444,2473,2141
$GC,71,-0.73,-146.6,3.4,-4.4,10,141,7.65,2.30,-54.30,0.000,4,0.220,0.073,2502,1061,3963
$GC,225,-0.73,-146.6,7.4,-4.0,41,231,0.00,2.25,0.00,0.000,6,0.000,0.054,2502,2471,3964
$GC,301,-0.73,-146.6,11.4,-6.0,57,307,0.00,2.08,0.00,0.000,4,0.000,0.067,2494,3759,3965
$GC,404,-0.73,-146.6,18.3,-6.9,79,410,0.00,2.03,0.00,0.000,6,0.000,0.048,2494,2464,3965
$GC,481,-0.73,-146.6,24.1,-8.1,95,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2464,3965
$GC,558,-0.73,-146.6,29.9,-7.6,111,564,0.00,2.22,0.00,0.000,4,0.000,0.060,2494,1056,3965
$GC,606,-0.73,-146.6,34.0,-8.6,121,612,0.00,2.22,0.00,0.000,6,0.000,0.053,2494,2470,3965
$GC,682,-0.73,-146.6,39.8,-7.4,137,688,0.00,2.25,0.00,0.000,4,0.000,0.059,2494,1055,3965
$GC,716,-0.73,-146.6,42.6,-7.8,144,722,0.00,2.22,0.00,0.000,6,0.000,0.052,2494,2472,3965
$GC,861,-0.73,-146.6,53.6,-7.6,175,867,0.00,2.25,0.00,0.000,4,0.000,0.059,2494,1054,3965
$GC,896,-0.73,-146.6,56.4,-8.1,182,902,0.00,2.22,0.00,0.000,6,0.000,0.053,2494,2469,3965
$GC,1042,-0.73,-146.6,67.2,-7.4,213,1047,0.00,2.22,0.00,0.000,4,0.000,0.059,2494,1062,3965
$GC,1085,-0.73,-146.6,70.4,-7.7,222,1091,0.00,2.22,0.00,0.000,6,0.000,0.053,2494,2479,3965
$GC,1231,-0.73,-146.6,81.1,-7.3,253,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2479,3965
$GC,1376,-0.73,-146.6,91.4,-7.2,284,1382,0.00,2.25,0.00,0.000,4,0.000,0.060,2494,1056,3964
$GC,1434,-0.73,-146.6,95.9,-7.3,296,1440,0.00,2.22,0.00,0.000,6,0.000,0.053,2494,2476,3963
$STATE,1564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1564,begin apogee
$GC,1567,-0.16,0.0,105.2,7.0,324,1674,0.55,0.00,102.50,0.679,6,0.104,0.000,2686,2476,3409
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1676,0.73,146.6,108.3,0.0,344,1795,0.77,2.25,111.85,0.650,4,0.062,0.064,2974,3758,2811
$GC,1841,0.73,146.6,100.7,11.0,376,1847,0.00,2.10,0.00,0.000,6,0.000,0.050,2983,2462,2809
$GC,1987,0.73,146.6,85.3,10.6,407,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2462,2809
$GC,2130,0.73,147.8,70.3,9.9,438,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2462,2808
$GC,2274,0.73,147.8,55.4,10.2,469,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2462,2807
$GC,2420,0.74,160.2,41.5,9.4,500,2437,0.00,2.12,11.18,0.594,4,0.000,0.065,2983,3761,2755
$GC,2474,0.74,160.2,35.8,10.6,511,2481,0.00,2.05,0.00,0.000,6,0.000,0.051,2990,2469,2754
$GC,2552,0.74,160.5,28.2,10.0,527,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2469,2754
$GC,2628,0.75,164.9,20.6,9.8,543,2640,0.00,2.28,4.72,0.477,4,0.000,0.064,2991,1057,2736
$GC,2691,0.77,179.4,14.4,9.3,556,2709,0.00,2.25,12.65,0.591,6,0.000,0.053,2991,2474,2677
$GC,2779,0.79,199.4,6.2,9.1,574,2801,0.00,2.12,16.17,0.594,4,0.000,0.066,2991,3765,2595
$STATE,2805,end climb,SURFACE_DEPTH_REACHED
$STATE,2805,begin surface coast
$FINISH,3.5,1.014724
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2844,360.00,0.588,0,1,612,686.09
$SM_CCo,3206,10.77,0.490,0,0,555,700.07
$SM_GC,2.04,0.00,0.00,10.77,0.000,0.000,0.490,439,2457,555,-7.19,-0.37,700.07
$IRIDIUM_FIX,4748.51,-11702.73,150898,030323
$TT8_MAMPS,0.026845
$HUMID,2009
$INTERNAL_PRESSURE,9.01173
$TCM_TEMP,18.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,60.0,7.1
$24V_AH,24.3,1.716
$10V_AH,10.7,0.580
$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,15.975,48.275,259.075,370.775,0.000,150.160,187.249,706.308,2.000,0.000,0.000,52.062,860.790,1019.642,734.767,916.802,1136.439,33.322,1240.359,0.000,860.026,0.000,12.816,0.000
$DEVICE_MAMPS,220.129,72.865,678.795,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15882,584
$CAP_FILE_SIZE,81170,7
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,2,0,9
$GPS,210509,045145,4806.189,-12222.528,12,1.9,12,18.3