version: 66.04
glider: 501
mission: 1
dive: 7
start: 5 20 109 2 46 22
data:
$ID,501
$MISSION,1
$DIVE,7
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,4
$T_NO_W,720
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.898
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1303.5487
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3805
$ROLL_DEG,40
$C_ROLL_DIVE,2323
$C_ROLL_CLIMB,2323
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,3291
$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,-77.782471
$PRESSURE_SLOPE,0.00011616675
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$DEVICE3,35
$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,0.0043285219
$SEABIRD_T_H,0.00062656443
$SEABIRD_T_I,2.463825e-05
$SEABIRD_T_J,2.7343538e-06
$SEABIRD_C_G,-9.9374466
$SEABIRD_C_H,1.125646
$SEABIRD_C_I,-0.0010839187
$SEABIRD_C_J,0.00017799769
$GPS1,024006,4806.838,-12222.768,42,1.1,42,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-76.4
$GPS2,024526,4806.785,-12222.768,15,0.9,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,-0.190
$KALMAN_X,-885.2,-509.6,-185.4,1284.6,-88.8
$KALMAN_Y,-1142.4,-467.3,-226.0,-2195.0,-36.5
$MHEAD_RNG_PITCHd_Wd,118.7,1736,-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,-0.76,-146.6,0.0,0.0,0,73,0.00,0.00,-56.17,0.000,2,0.000,0.000,116,2326,2027
$GC,75,-0.76,-146.6,3.1,-2.4,10,145,10.02,2.33,-54.90,0.000,4,0.258,0.064,2469,900,3892
$GC,397,-0.76,-146.6,46.8,-17.4,79,403,0.00,2.28,0.00,0.000,6,0.000,0.055,2469,2318,3895
$GC,541,-0.76,-146.6,74.2,-19.2,110,547,0.00,2.20,0.00,0.000,4,0.000,0.048,2469,908,3895
$GC,652,-0.76,-146.6,92.8,-16.7,134,659,0.00,2.25,0.00,0.000,6,0.000,0.054,2469,2329,3895
$STATE,721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,722,begin apogee
$GC,725,-0.17,0.0,105.3,18.2,149,836,0.62,0.00,107.28,0.594,6,0.161,0.000,2658,2329,3291
$STATE,837,end apogee,CONTROL_FINISHED_OK
$STATE,837,begin climb
$GC,838,0.76,146.6,111.3,0.0,169,956,0.95,2.33,108.47,0.571,4,0.108,0.053,2965,909,2692
$GC,966,0.83,202.8,107.2,7.4,192,1016,0.00,2.35,42.78,0.556,6,0.000,0.051,2965,2333,2463
$GC,1153,0.83,202.8,83.5,13.7,231,1159,0.00,2.33,0.00,0.000,4,0.000,0.054,2965,906,2462
$GC,1195,0.83,202.8,78.0,12.7,240,1201,0.00,2.28,0.00,0.000,6,0.000,0.051,2965,2322,2462
$GC,1339,0.83,202.8,58.9,13.2,271,1345,0.00,2.28,0.00,0.000,4,0.000,0.054,2965,908,2461
$GC,1378,0.83,202.8,54.1,12.5,279,1384,0.00,2.28,0.00,0.000,6,0.000,0.052,2965,2323,2461
$GC,1522,0.83,202.8,35.6,12.5,310,1528,0.00,2.25,0.00,0.000,4,0.000,0.055,2965,906,2460
$GC,1542,0.83,202.8,33.1,12.1,314,1548,0.00,2.25,0.00,0.000,6,0.000,0.052,2965,2324,2460
$GC,1615,0.83,202.8,24.4,11.8,330,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2324,2460
$GC,1688,0.83,202.8,16.5,10.2,346,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2324,2460
$GC,1759,0.86,225.1,9.6,9.0,362,1784,0.10,2.28,17.12,0.535,4,0.092,0.064,3005,3737,2373
$GC,1789,0.87,235.0,6.7,9.5,367,1803,0.00,2.22,8.65,0.488,6,0.000,0.049,3005,2320,2332
$STATE,1816,end climb,SURFACE_DEPTH_REACHED
$STATE,1816,begin surface coast
$FINISH,4.1,1.018786
$STATE,1874,end surface coast,CONTROL_FINISHED_OK
$STATE,1874,begin surface
$SM_CCo,1888,324.88,0.513,0,0,436,700.07
$SM_GC,1.77,0.00,0.00,324.88,0.000,0.000,0.513,108,2320,436,-8.18,-0.08,700.07
$IRIDIUM_FIX,4745.30,-11748.81,140898,020231
$TT8_MAMPS,0.027612
$HUMID,1804
$INTERNAL_PRESSURE,10.5473
$TCM_TEMP,17.80
$XPDR_PINGS,2
$24V_AH,24.6,1.254
$10V_AH,10.6,0.967
$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,20.100,31.875,284.300,324.875,0.000,30.520,30.987,183.077,1.250,0.000,0.000,15.608,563.249,386.193,669.832,635.394,298.159,33.326,1047.735,0.000,617.960,0.000,5.936,0.000
$DEVICE_MAMPS,257.712,64.428,593.658,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.754,440.193,381.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25517,385
$CAP_FILE_SIZE,43273,0
$CFSIZE,260165632,258596864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,032401,4806.604,-12222.641,9,1.3,14,18.3