version: 66.04
glider: 503
mission: 2
dive: 20
start: 5 21 109 13 54 1
data:
$ID,503
$MISSION,2
$DIVE,20
$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,600
$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,51629
$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,-2571.127
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2844
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,2393
$C_ROLL_CLIMB,2393
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,466
$VBD_MAX,3969
$C_VBD,3660
$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,-51.611187
$PRESSURE_SLOPE,0.00011732637
$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,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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-0.10162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,134506,4806.037,-12222.095,8,2.0,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.9
$GPS2,135322,4806.012,-12222.072,8,2.1,27,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.228
$KALMAN_X,1251.8,116.7,-47.4,-1361.7,47.1
$KALMAN_Y,-5419.8,-408.7,-71.4,5303.9,-148.4
$MHEAD_RNG_PITCHd_Wd,313.0,4386,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.65,-146.6,0.0,0.0,0,135,0.00,0.00,-118.82,0.000,6,0.000,0.000,200,2394,3967
$GC,136,-0.65,-146.6,3.0,-3.7,22,148,9.50,0.00,0.00,0.000,6,0.240,0.000,2628,2394,3970
$GC,213,-0.65,-146.6,6.9,-5.0,39,219,0.00,2.25,0.00,0.000,4,0.000,0.044,2628,989,3972
$GC,466,-0.65,-146.6,23.1,-8.5,97,472,0.00,2.25,0.00,0.000,6,0.000,0.048,2621,2414,3973
$GC,537,-0.65,-146.6,29.3,-8.8,113,542,0.00,2.22,0.00,0.000,4,0.000,0.044,2621,984,3973
$GC,789,-0.65,-146.6,52.5,-9.2,171,795,0.00,2.22,0.00,0.000,6,0.000,0.049,2620,2391,3973
$GC,925,-0.65,-146.6,64.6,-9.0,202,931,0.00,2.17,0.00,0.000,4,0.000,0.044,2620,986,3973
$GC,956,-0.65,-146.6,67.5,-9.7,209,962,0.00,2.25,0.00,0.000,6,0.000,0.049,2620,2388,3973
$GC,1092,-0.65,-146.6,79.0,-8.3,240,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2389,3973
$GC,1228,-0.65,-146.6,90.1,-8.3,271,1233,0.00,2.20,0.00,0.000,4,0.000,0.044,2619,974,3972
$GC,1263,-0.65,-146.6,93.1,-8.9,279,1269,0.00,2.25,0.00,0.000,6,0.000,0.048,2619,2385,3973
$GC,1398,-0.65,-146.6,104.2,-7.9,310,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2385,3973
$STATE,1436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1436,begin apogee
$GC,1439,-0.14,0.0,107.4,7.6,319,1499,0.52,0.00,56.30,0.614,6,0.133,0.000,2793,2385,3660
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1501,0.65,146.6,108.1,0.0,330,1617,0.70,0.00,108.45,0.588,6,0.073,0.000,3054,2386,3061
$GC,1746,0.65,146.6,71.6,18.6,381,1752,0.00,2.30,0.00,0.000,4,0.000,0.048,3064,985,3060
$GC,1807,0.65,146.6,60.3,17.9,395,1813,0.00,2.30,0.00,0.000,6,0.000,0.046,3064,2392,3058
$GC,1943,0.65,146.6,35.0,18.2,426,1949,0.00,2.22,0.00,0.000,4,0.000,0.047,3075,986,3058
$GC,1983,0.65,146.6,28.0,17.5,435,1989,0.00,2.28,0.00,0.000,6,0.000,0.048,3075,2387,3058
$GC,2053,0.65,146.6,15.7,17.3,451,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2388,3058
$GC,2123,0.65,146.6,4.9,13.0,467,2129,0.00,2.25,0.00,0.000,4,0.000,0.045,3084,980,3058
$STATE,2131,end climb,SURFACE_DEPTH_REACHED
$STATE,2131,begin surface coast
$FINISH,1.4,1.021025
$STATE,2171,end surface coast,CONTROL_FINISHED_OK
$STATE,2171,begin surface
$SM_CCo,2185,245.30,0.516,0,0,805,700.07
$SM_GC,1.04,0.00,0.00,245.30,0.000,0.000,0.516,201,2401,805,-8.26,0.20,700.07
$IRIDIUM_FIX,4748.51,-12217.40,150898,131302
$TT8_MAMPS,0.050622
$HUMID,1926
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,24.3,2.273
$10V_AH,10.6,1.620
$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,18.500,31.475,164.750,245.300,0.000,54.277,108.903,191.756,3.250,0.000,0.000,30.660,0.000,1028.389,528.704,952.510,415.211,33.325,927.841,0.000,754.010,0.000,19.335,0.000
$DEVICE_MAMPS,240.071,49.088,613.600,516.191,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,323.723,552.342,479.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31889,478
$CAP_FILE_SIZE,50236,0
$CFSIZE,260165632,258125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,143519,4806.089,-12222.210,13,1.9,30,18.3