version: 66.04
glider: 502
mission: 2
dive: 3
start: 5 21 109 1 22 25
data:
$ID,502
$MISSION,2
$DIVE,3
$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,-1873.6429
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,011802,4806.121,-12222.284,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.0
$GPS2,012132,4806.096,-12222.271,16,1.1,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.240
$KALMAN_X,12.9,16.7,17.0,-411.4,10.9
$KALMAN_Y,-257.8,-188.8,-175.8,571.7,-138.6
$MHEAD_RNG_PITCHd_Wd,319.2,1900,-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,-0.73,-146.6,0.0,0.0,0,84,0.00,0.00,-68.12,0.000,2,0.000,0.000,443,2467,2495
$GC,86,-0.73,-146.6,3.1,-3.6,13,147,7.82,2.10,-45.53,0.000,4,0.234,0.081,2503,3766,3960
$GC,180,-0.73,-146.6,6.1,-5.4,31,186,0.00,2.05,0.00,0.000,6,0.000,0.048,2503,2455,3961
$GC,255,-0.73,-146.6,9.5,-4.2,47,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2455,3963
$GC,330,-0.73,-146.6,13.8,-5.9,63,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2455,3963
$GC,405,-0.73,-146.6,18.9,-6.9,79,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2455,3963
$GC,480,-0.73,-146.6,24.4,-7.6,95,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2455,3963
$GC,556,-0.73,-146.6,30.1,-7.4,111,561,0.00,2.20,0.00,0.000,4,0.000,0.060,2503,1059,3964
$GC,594,-0.73,-146.6,33.3,-8.4,119,600,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2473,3963
$GC,670,-0.73,-146.6,39.1,-7.4,135,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2473,3963
$GC,745,-0.73,-146.6,44.6,-7.0,151,751,0.00,2.22,0.00,0.000,4,0.000,0.059,2503,1063,3964
$GC,789,-0.73,-146.6,48.1,-8.0,160,795,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2480,3964
$GC,934,-0.73,-146.6,58.3,-6.8,191,940,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1056,3963
$GC,966,-0.73,-146.6,60.5,-7.0,197,972,0.00,2.22,0.00,0.000,6,0.000,0.053,2502,2476,3964
$GC,1111,-0.73,-146.6,70.3,-6.7,228,1117,0.00,2.22,0.00,0.000,4,0.000,0.059,2503,1065,3963
$GC,1150,-0.73,-146.6,73.0,-7.3,236,1156,0.00,2.20,0.00,0.000,6,0.000,0.054,2503,2472,3963
$GC,1296,-0.73,-146.6,82.6,-6.4,267,1302,0.00,2.22,0.00,0.000,4,0.000,0.059,2503,1060,3963
$GC,1334,-0.73,-146.6,85.5,-7.0,275,1341,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2482,3963
$GC,1480,-0.73,-146.6,94.9,-6.7,306,1486,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1055,3963
$GC,1515,-0.73,-146.6,97.5,-7.2,313,1521,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2477,3962
$STATE,1631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1631,begin apogee
$GC,1634,-0.16,0.0,105.2,6.3,338,1741,0.52,0.00,102.15,0.677,6,0.104,0.000,2688,2478,3409
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1743,0.73,146.6,108.4,0.0,358,1862,0.77,2.25,111.88,0.650,4,0.061,0.065,2980,3761,2811
$GC,1913,0.73,146.6,100.7,10.8,391,1919,0.00,2.08,0.00,0.000,6,0.000,0.050,2985,2475,2809
$GC,2057,0.73,146.6,85.7,10.9,422,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2475,2809
$GC,2201,0.73,146.6,70.5,10.2,453,2207,0.00,2.28,0.00,0.000,4,0.000,0.062,2986,1056,2808
$GC,2235,0.73,146.6,67.0,10.3,460,2241,0.00,2.25,0.00,0.000,6,0.000,0.053,2986,2470,2808
$GC,2381,0.75,164.4,53.1,9.2,491,2398,0.00,0.00,14.30,0.608,6,0.000,0.000,2986,2470,2738
$GC,2536,0.76,170.7,36.8,9.7,524,2548,0.00,0.00,6.10,0.524,6,0.000,0.000,2986,2470,2713
$GC,2617,0.76,170.7,28.7,10.1,541,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2470,2713
$GC,2692,0.76,170.7,21.1,10.0,557,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2470,2713
$GC,2767,0.77,183.3,14.0,9.4,573,2783,0.00,0.00,11.15,0.585,6,0.000,0.000,2986,2470,2661
$GC,2853,0.80,203.6,5.8,9.1,591,2871,0.00,0.00,15.95,0.594,2,0.000,0.000,2986,2470,2580
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,3.5,1.017638
$STATE,2932,end surface coast,CONTROL_FINISHED_OK
$STATE,2932,begin surface
$SM_CCo,2945,345.58,0.588,0,0,555,700.07
$SM_GC,1.77,0.00,0.00,345.58,0.000,0.000,0.588,441,2472,555,-7.19,0.06,700.07
$IRIDIUM_FIX,4748.51,-12224.57,150898,010136
$TT8_MAMPS,0.026845
$HUMID,2029
$INTERNAL_PRESSURE,9.02149
$TCM_TEMP,18.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,60.1,9.0
$24V_AH,24.4,1.424
$10V_AH,10.7,0.484
$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,16.075,39.700,261.525,345.575,0.000,0.000,0.000,0.000,2.500,0.000,0.000,16.992,886.950,810.353,716.512,907.298,44.294,31.418,1241.735,0.000,893.628,0.000,8.479,0.000
$DEVICE_MAMPS,233.935,81.302,677.261,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15831,607
$CAP_FILE_SIZE,73841,0
$CFSIZE,260165632,258686976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$GPS,210509,021824,4806.254,-12222.462,37,1.6,37,18.3