version: 66.04
glider: 501
mission: 2
dive: 21
start: 5 22 109 15 34 58
data:
$ID,501
$MISSION,2
$DIVE,21
$D_SURF,4
$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,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.699
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-5981.4517
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2664
$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,34
$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,2741
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$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,-78.200256
$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,1
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.58
$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,0.0042778454
$SEABIRD_T_H,0.00061740389
$SEABIRD_T_I,2.0755566e-05
$SEABIRD_T_J,1.9309739e-06
$SEABIRD_C_G,-9.9587898
$SEABIRD_C_H,1.1116555
$SEABIRD_C_I,-0.00091855833
$SEABIRD_C_J,0.00016386856
$GPS1,152850,4806.012,-12222.031,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.7
$GPS2,153402,4806.035,-12222.042,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.241
$KALMAN_X,-388.4,4.8,57.8,528.8,-53.7
$KALMAN_Y,-2457.1,-344.5,-39.9,1254.9,-125.8
$MHEAD_RNG_PITCHd_Wd,319.9,4371,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.6,0.0,0.0,0,119,0.00,0.00,-101.30,0.000,2,0.000,0.000,112,2330,3195
$GC,121,-0.76,-146.6,3.3,-5.2,18,140,9.88,2.30,-3.58,0.000,4,0.258,0.055,2409,907,3340
$GC,307,-0.76,-146.6,24.7,-11.4,59,313,0.00,2.25,0.00,0.000,6,0.000,0.047,2409,2330,3341
$GC,380,-0.76,-146.6,33.0,-11.8,72,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2330,3341
$GC,452,-0.76,-146.6,41.8,-11.9,85,458,0.00,2.22,0.00,0.000,4,0.000,0.060,2409,3732,3341
$GC,499,-0.76,-146.6,47.8,-12.2,95,505,0.00,2.15,0.00,0.000,6,0.000,0.035,2409,2320,3341
$GC,639,-0.76,-146.6,65.0,-12.2,120,645,0.00,2.25,0.00,0.000,4,0.000,0.058,2409,3733,3341
$GC,673,-0.76,-146.6,69.3,-12.5,127,679,0.00,2.15,0.00,0.000,6,0.000,0.035,2408,2313,3341
$GC,814,-0.76,-146.6,85.9,-12.2,152,820,0.00,2.25,0.00,0.000,4,0.000,0.058,2409,3733,3341
$GC,847,-0.76,-146.6,89.9,-11.0,159,854,0.00,2.12,0.00,0.000,6,0.000,0.035,2408,2323,3341
$GC,990,-0.76,-146.6,106.4,-10.9,184,996,0.00,2.22,0.00,0.000,4,0.000,0.058,2409,3735,3341
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1006,-0.33,0.0,107.8,10.8,186,1120,0.45,0.00,105.68,0.581,6,0.146,0.000,2547,2320,2740
$STATE,1120,end apogee,CONTROL_FINISHED_OK
$STATE,1120,begin climb
$GC,1122,0.76,146.6,112.7,0.0,206,1241,1.10,2.35,109.18,0.556,4,0.114,0.044,2899,887,2142
$GC,1264,0.76,146.6,95.5,17.6,232,1270,0.00,2.35,0.00,0.000,6,0.000,0.044,2899,2324,2140
$GC,1405,0.76,146.6,70.4,17.7,257,1411,0.00,2.25,0.00,0.000,4,0.000,0.044,2899,907,2138
$GC,1439,0.76,146.6,64.5,16.7,264,1445,0.00,2.28,0.00,0.000,6,0.000,0.044,2900,2333,2138
$GC,1580,0.76,146.6,41.1,16.2,289,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2332,2137
$GC,1719,0.76,146.6,18.5,15.4,314,1726,0.00,2.22,0.00,0.000,4,0.000,0.045,2900,913,2137
$GC,1767,0.76,146.6,11.9,13.2,324,1773,0.00,2.22,0.00,0.000,6,0.000,0.045,2899,2331,2137
$STATE,1834,end climb,SURFACE_DEPTH_REACHED
$STATE,1835,begin surface coast
$FINISH,2.9,1.017635
$STATE,1884,end surface coast,CONTROL_FINISHED_OK
$STATE,1885,begin surface
$SM_CCo,1899,260.65,0.500,0,0,431,566.39
$SM_CCo,2161,0.00,0.000,0,0,431,566.63
$SM_CCo,2163,0.00,0.000,0,0,430,566.63
$SM_GC,1.78,0.00,0.00,0.00,0.000,0.000,0.000,108,2333,430,-7.99,0.28,566.63
$IRIDIUM_FIX,4751.72,-12221.84,160898,151546
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,8.94775
$TCM_TEMP,17.70
$XPDR_PINGS,1
$24V_AH,24.6,5.337
$10V_AH,10.6,2.904
$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,19.275,35.775,214.850,260.650,0.000,30.154,29.103,184.626,1.000,0.000,0.000,12.564,522.366,528.152,561.078,588.246,297.488,33.339,907.422,0.000,569.466,0.000,5.638,0.000
$DEVICE_MAMPS,258.479,59.826,581.386,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.449,564.621,489.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19198,345
$CAP_FILE_SIZE,41467,0
$CFSIZE,260165632,258199552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,161144,4806.219,-12222.221,10,1.8,10,18.3