version: 66.04
glider: 502
mission: 2
dive: 7
start: 5 21 109 6 18 30
data:
$ID,502
$MISSION,2
$DIVE,7
$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,-2014.6378
$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,26
$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
$GPS1,055552,4806.265,-12222.710,73,3.4,92,18.3
$_CALLS,3
$_XMS_NAKs,40
$_XMS_TOUTs,3
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.4
$GPS2,061736,4806.083,-12222.488,39,0.9,45,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.240
$KALMAN_X,338.7,179.1,40.7,-1194.9,39.3
$KALMAN_Y,-1412.3,-745.4,-160.3,2246.7,-46.5
$MHEAD_RNG_PITCHd_Wd,319.0,1811,-17.5,-10.000
$D_GRID,103
$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,14,-0.73,-146.6,0.0,0.0,0,79,0.00,0.00,-62.67,0.000,2,0.000,0.000,436,2480,2418
$GC,81,-0.73,-146.6,3.0,-3.0,12,147,7.72,2.33,-48.72,0.000,4,0.221,0.073,2503,1055,3963
$GC,166,-0.73,-146.6,4.9,-4.5,28,172,0.00,2.28,0.00,0.000,6,0.000,0.053,2503,2474,3964
$GC,242,-0.73,-146.6,8.5,-4.9,44,248,0.00,2.10,0.00,0.000,4,0.000,0.067,2503,3766,3966
$GC,355,-0.73,-146.6,14.8,-5.9,68,361,0.00,2.05,0.00,0.000,6,0.000,0.048,2503,2459,3966
$GC,431,-0.73,-146.6,19.8,-6.9,84,437,0.00,2.22,0.00,0.000,4,0.000,0.060,2503,1058,3966
$GC,480,-0.73,-146.6,23.4,-7.5,94,486,0.00,2.25,0.00,0.000,6,0.000,0.053,2503,2479,3966
$GC,556,-0.73,-146.6,29.3,-7.8,110,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2479,3966
$GC,631,-0.73,-146.6,34.8,-7.5,126,637,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1063,3966
$GC,684,-0.73,-146.6,38.9,-8.1,137,690,0.00,2.22,0.00,0.000,6,0.000,0.053,2503,2473,3967
$GC,760,-0.73,-146.6,44.6,-7.5,153,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2473,3966
$GC,904,-0.73,-146.6,54.3,-6.4,184,910,0.00,2.25,0.00,0.000,4,0.000,0.059,2503,1058,3966
$GC,961,-0.73,-146.6,58.4,-7.3,196,967,0.00,2.22,0.00,0.000,6,0.000,0.052,2503,2471,3966
$GC,1107,-0.73,-146.6,68.3,-6.5,227,1113,0.00,2.25,0.00,0.000,4,0.000,0.060,2502,1054,3966
$GC,1151,-0.73,-146.6,71.3,-7.2,236,1157,0.00,2.22,0.00,0.000,6,0.000,0.052,2503,2468,3966
$GC,1297,-0.73,-146.6,81.1,-6.5,267,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2469,3966
$GC,1442,-0.73,-146.6,90.5,-6.6,298,1448,0.00,2.22,0.00,0.000,4,0.000,0.060,2503,1063,3965
$GC,1490,-0.73,-146.6,94.2,-7.1,308,1497,0.00,2.22,0.00,0.000,6,0.000,0.053,2504,2481,3965
$STATE,1625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1625,begin apogee
$GC,1629,-0.16,0.0,103.2,6.5,337,1736,0.52,0.00,102.93,0.677,6,0.104,0.000,2688,2481,3410
$STATE,1737,end apogee,CONTROL_FINISHED_OK
$STATE,1737,begin climb
$GC,1738,0.73,146.6,106.3,0.0,357,1861,0.77,2.25,112.30,0.648,4,0.060,0.065,2976,3757,2811
$GC,1917,0.73,146.6,97.3,11.3,392,1923,0.00,2.08,0.00,0.000,6,0.000,0.050,2985,2475,2810
$GC,2062,0.73,146.6,81.9,10.6,423,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2474,2809
$GC,2208,0.73,146.6,66.7,10.3,454,2214,0.00,2.10,0.00,0.000,4,0.000,0.067,2985,3758,2809
$GC,2255,0.73,146.6,61.1,11.6,464,2261,0.00,2.05,0.00,0.000,6,0.000,0.051,2995,2466,2808
$GC,2401,0.73,146.6,46.1,10.0,495,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2466,2808
$GC,2545,0.73,148.8,31.8,9.9,526,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2466,2808
$GC,2621,0.74,159.0,24.7,9.5,542,2638,0.00,0.00,10.30,0.584,6,0.000,0.000,2995,2466,2761
$GC,2707,0.75,166.3,16.2,9.7,560,2719,0.00,0.00,6.78,0.536,6,0.000,0.000,2994,2466,2732
$GC,2788,0.78,187.2,8.8,9.0,577,2810,0.00,0.00,16.98,0.601,6,0.000,0.000,2995,2466,2646
$STATE,2837,end climb,SURFACE_DEPTH_REACHED
$STATE,2837,begin surface coast
$FINISH,3.4,1.018554
$STATE,2898,end surface coast,CONTROL_FINISHED_OK
$STATE,2898,begin surface
$SM_CCo,2911,341.38,0.585,0,0,554,700.07
$SM_GC,1.97,0.00,0.00,341.38,0.000,0.000,0.585,435,2465,554,-7.20,-0.14,700.07
$IRIDIUM_FIX,4748.51,-12224.57,150898,060651
$TT8_MAMPS,0.026845
$HUMID,1985
$INTERNAL_PRESSURE,9.00196
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.2,7.2
$24V_AH,24.2,2.002
$10V_AH,10.7,0.661
$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,16.100,39.575,249.275,341.375,0.000,90.745,114.674,856.469,1.750,0.000,0.000,45.217,877.994,927.867,700.777,931.479,1135.627,33.321,1216.864,0.000,883.332,0.000,13.693,0.000
$DEVICE_MAMPS,220.896,72.865,677.261,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15843,600
$CAP_FILE_SIZE,80948,0
$CFSIZE,260165632,258555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210509,071326,4806.311,-12222.757,11,1.4,11,18.3