version: 66.04
glider: 503
mission: 2
dive: 22
start: 5 21 109 15 31 58
data:
$ID,503
$MISSION,2
$DIVE,22
$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,-2622.908
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,152614,4806.193,-12222.305,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.8
$GPS2,153119,4806.176,-12222.271,8,1.1,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.223
$KALMAN_X,1510.0,121.6,-27.3,-1890.0,90.2
$KALMAN_Y,-6052.6,-374.1,-96.2,6230.5,-165.0
$MHEAD_RNG_PITCHd_Wd,310.6,3997,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.65,-146.6,0.0,0.0,0,136,0.00,0.00,-119.95,0.000,6,0.000,0.000,200,2401,3970
$GC,137,-0.65,-146.6,2.7,-2.8,22,151,9.48,2.22,0.00,0.000,4,0.238,0.048,2621,3770,3973
$GC,163,-0.65,-146.6,4.4,-6.1,27,169,0.00,2.17,0.00,0.000,6,0.000,0.035,2621,2385,3974
$GC,233,-0.65,-146.6,7.4,-6.1,43,239,0.00,2.22,0.00,0.000,4,0.000,0.054,2613,3766,3975
$GC,242,-0.65,-146.6,8.1,-7.6,45,249,0.00,2.15,0.00,0.000,6,0.000,0.038,2613,2398,3975
$GC,313,-0.65,-146.6,13.9,-7.6,61,319,0.00,2.22,0.00,0.000,4,0.000,0.056,2613,3753,3975
$GC,336,-0.65,-146.6,15.7,-8.0,66,342,0.00,2.12,0.00,0.000,6,0.000,0.038,2613,2394,3975
$GC,407,-0.65,-146.6,21.2,-8.3,82,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2394,3976
$GC,476,-0.65,-146.6,28.3,-10.2,98,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2394,3976
$GC,546,-0.65,-146.6,34.7,-9.0,114,552,0.00,2.22,0.00,0.000,4,0.000,0.044,2613,983,3975
$GC,572,-0.65,-146.6,37.3,-10.2,120,579,0.00,2.28,0.00,0.000,6,0.000,0.048,2613,2393,3976
$GC,643,-0.65,-146.6,43.9,-9.7,136,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2393,3976
$GC,778,-0.65,-146.6,57.3,-9.8,167,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2393,3976
$GC,913,-0.65,-146.6,70.3,-9.3,198,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2393,3976
$GC,1048,-0.65,-146.6,82.4,-9.0,229,1053,0.00,2.20,0.00,0.000,4,0.000,0.044,2613,979,3976
$GC,1087,-0.65,-146.6,86.2,-9.6,238,1094,0.00,2.25,0.00,0.000,6,0.000,0.048,2613,2385,3976
$GC,1223,-0.65,-146.6,98.0,-8.7,269,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2385,3976
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1335,begin apogee
$GC,1338,-0.14,0.0,107.4,8.0,295,1398,0.55,0.00,57.08,0.623,6,0.135,0.000,2793,2385,3659
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1400,0.65,146.6,108.2,0.0,306,1515,0.70,0.00,108.20,0.590,6,0.071,0.000,3055,2385,3062
$GC,1645,0.65,146.6,71.2,18.7,357,1651,0.00,2.30,0.00,0.000,4,0.000,0.048,3065,982,3061
$GC,1693,0.65,146.6,62.1,18.3,368,1699,0.00,2.30,0.00,0.000,6,0.000,0.047,3065,2388,3060
$GC,1829,0.65,146.6,36.6,18.7,399,1835,0.00,2.22,0.00,0.000,4,0.000,0.048,3076,985,3059
$GC,1851,0.65,146.6,32.4,19.0,404,1858,0.00,2.30,0.00,0.000,6,0.000,0.047,3076,2402,3059
$GC,1922,0.65,146.6,19.1,17.7,420,1928,0.00,2.28,0.00,0.000,4,0.000,0.047,3086,987,3059
$GC,1962,0.65,146.6,12.0,17.3,429,1968,0.08,2.28,0.00,0.000,6,0.164,0.048,3048,2392,3059
$STATE,2019,end climb,SURFACE_DEPTH_REACHED
$STATE,2019,begin surface coast
$FINISH,3.0,1.024746
$STATE,2054,end surface coast,CONTROL_FINISHED_OK
$STATE,2054,begin surface
$SM_CCo,2066,313.12,0.521,0,0,805,700.07
$SM_GC,2.02,0.00,0.00,313.12,0.000,0.000,0.521,195,2392,805,-8.28,-0.03,700.07
$IRIDIUM_FIX,4751.72,-12223.57,150898,141447
$TT8_MAMPS,0.051389
$HUMID,1920
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,24.3,2.448
$10V_AH,10.6,1.711
$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,18.450,35.750,165.275,313.125,0.000,24.520,31.173,182.905,3.000,0.000,0.000,15.809,0.000,877.177,614.360,893.205,298.283,33.330,1007.059,0.000,709.249,0.000,19.331,0.000
$DEVICE_MAMPS,237.770,55.991,622.804,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,303.656,516.385,448.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28686,450
$CAP_FILE_SIZE,52375,0
$CFSIZE,260165632,258056192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,210509,161728,4806.250,-12222.350,313,2.6,332,18.3