version: 66.04
glider: 502
mission: 2
dive: 6
start: 5 21 109 4 59 31
data:
$ID,502
$MISSION,2
$DIVE,6
$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,-1968.7919
$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,26
$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
$GPS1,045145,4806.189,-12222.528,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.3
$GPS2,045836,4806.119,-12222.441,16,1.8,26,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.234
$KALMAN_X,248.5,143.0,14.8,-983.7,59.1
$KALMAN_Y,-1059.1,-647.2,-160.2,1858.7,-69.6
$MHEAD_RNG_PITCHd_Wd,315.8,1771,-17.5,-10.000
$D_GRID,103
$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,-52.60,0.000,2,0.000,0.000,439,2457,2112
$GC,71,-0.73,-146.6,3.2,-3.8,10,141,7.65,0.00,-57.15,0.000,6,0.219,0.000,2498,2457,3963
$GC,211,-0.73,-146.6,7.2,-4.8,38,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2457,3964
$GC,286,-0.73,-146.6,11.1,-5.8,54,292,0.00,2.25,0.00,0.000,4,0.000,0.061,2498,1051,3964
$GC,336,-0.73,-146.6,13.9,-6.1,64,342,0.00,2.28,0.00,0.000,6,0.000,0.054,2498,2474,3965
$GC,412,-0.73,-146.6,19.1,-7.4,80,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2474,3965
$GC,487,-0.73,-146.6,24.7,-7.5,96,493,0.00,2.28,0.00,0.000,4,0.000,0.060,2498,1054,3965
$GC,535,-0.73,-146.6,28.6,-8.2,106,541,0.00,2.25,0.00,0.000,6,0.000,0.054,2498,2471,3966
$GC,611,-0.73,-146.6,34.5,-7.7,122,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2471,3966
$GC,686,-0.73,-146.6,40.0,-7.6,138,692,0.00,2.25,0.00,0.000,4,0.000,0.060,2498,1060,3966
$GC,743,-0.73,-146.6,44.5,-8.2,150,749,0.00,2.22,0.00,0.000,6,0.000,0.053,2498,2473,3966
$GC,889,-0.73,-146.6,54.9,-7.1,181,895,0.00,2.25,0.00,0.000,4,0.000,0.060,2497,1058,3966
$GC,923,-0.73,-146.6,57.7,-7.7,188,929,0.00,2.22,0.00,0.000,6,0.000,0.053,2498,2470,3966
$GC,1069,-0.73,-146.6,68.1,-7.0,219,1074,0.00,2.25,0.00,0.000,4,0.000,0.060,2498,1055,3966
$GC,1117,-0.73,-146.6,71.9,-7.8,229,1123,0.00,2.22,0.00,0.000,6,0.000,0.054,2498,2469,3966
$GC,1262,-0.73,-146.6,82.0,-6.6,260,1268,0.00,2.25,0.00,0.000,4,0.000,0.060,2498,1051,3965
$GC,1292,-0.73,-146.6,84.3,-7.7,266,1298,0.00,2.22,0.00,0.000,6,0.000,0.053,2498,2470,3965
$GC,1437,-0.73,-146.6,94.4,-6.6,297,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2470,3965
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1569,-0.16,0.0,103.1,6.7,325,1676,0.52,0.00,103.07,0.676,6,0.107,0.000,2683,2470,3409
$STATE,1677,end apogee,CONTROL_FINISHED_OK
$STATE,1677,begin climb
$GC,1678,0.73,146.6,106.3,0.0,345,1801,0.80,2.25,112.43,0.647,4,0.064,0.064,2977,3757,2810
$GC,1894,0.73,146.6,93.5,11.3,388,1900,0.00,2.10,0.00,0.000,6,0.000,0.051,2985,2462,2809
$GC,2039,0.73,146.6,78.7,10.1,419,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2462,2809
$GC,2183,0.73,148.8,64.8,9.9,450,2189,0.00,2.12,0.00,0.000,4,0.000,0.066,2985,3765,2808
$GC,2218,0.73,148.8,61.1,11.2,457,2224,0.00,2.05,0.00,0.000,6,0.000,0.051,2993,2461,2808
$GC,2363,0.73,152.9,46.4,9.8,488,2374,0.00,0.00,5.95,0.524,6,0.000,0.000,2994,2461,2785
$GC,2514,0.73,152.9,31.5,10.2,520,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2461,2785
$GC,2589,0.74,159.6,24.2,9.7,536,2600,0.00,0.00,6.65,0.540,6,0.000,0.000,2993,2461,2757
$GC,2670,0.75,164.0,16.0,9.8,553,2681,0.00,2.28,4.72,0.476,4,0.000,0.063,2999,1052,2741
$GC,2728,0.75,169.1,10.5,9.8,565,2740,0.00,2.28,5.53,0.504,6,0.000,0.053,2999,2478,2720
$STATE,2799,end climb,SURFACE_DEPTH_REACHED
$STATE,2799,begin surface coast
$FINISH,3.8,1.020219
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2882,360.00,0.590,0,1,614,685.36
$SM_CCo,3244,11.18,0.495,0,0,555,700.07
$SM_GC,2.13,0.00,0.00,11.18,0.000,0.000,0.495,435,2479,555,-7.20,0.25,700.07
$IRIDIUM_FIX,4748.51,-12226.29,150898,040445
$TT8_MAMPS,0.027612
$HUMID,2003
$INTERNAL_PRESSURE,9.00196
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,50.3,7.2
$24V_AH,24.2,1.840
$10V_AH,10.7,0.614
$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,16.050,40.025,238.350,371.175,0.000,30.292,34.967,257.700,0.750,0.000,0.000,26.923,873.605,806.500,720.316,901.711,381.839,33.313,1229.387,0.000,875.717,0.000,5.739,0.000
$DEVICE_MAMPS,218.595,65.962,675.727,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15830,595
$CAP_FILE_SIZE,63286,7
$CFSIZE,260165632,258605056
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0
$GPS,210509,055552,4806.265,-12222.710,73,3.4,92,18.3