version: 66.04
glider: 502
mission: 2
dive: 8
start: 5 21 109 7 20 40
data:
$ID,502
$MISSION,2
$DIVE,8
$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,-2028.2915
$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,24
$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
$GPS1,071326,4806.311,-12222.757,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.1
$GPS2,071944,4806.283,-12222.685,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.251
$KALMAN_X,326.3,167.2,46.6,-1415.7,-7.4
$KALMAN_Y,-1551.8,-725.3,-156.4,2723.8,-8.7
$MHEAD_RNG_PITCHd_Wd,326.3,1384,-17.5,-10.000
$D_GRID,101
$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,-146.6,0.0,0.0,0,100,0.00,0.00,-84.12,0.000,2,0.000,0.000,436,2466,3029
$GC,102,-0.73,-146.6,3.0,-1.0,16,147,7.78,2.30,-28.95,0.000,4,0.223,0.074,2503,1050,3963
$GC,198,-0.73,-146.6,7.1,-5.5,35,204,0.00,2.28,0.00,0.000,6,0.000,0.054,2503,2467,3964
$GC,274,-0.73,-146.6,11.3,-5.6,51,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2467,3965
$GC,349,-0.73,-146.6,16.0,-6.6,67,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2468,3965
$GC,424,-0.73,-146.6,21.4,-7.4,83,430,0.00,2.28,0.00,0.000,4,0.000,0.061,2504,1052,3966
$GC,483,-0.73,-146.6,25.9,-8.4,95,489,0.00,2.28,0.00,0.000,6,0.000,0.054,2503,2481,3966
$GC,559,-0.73,-146.6,31.7,-7.4,111,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2482,3966
$GC,634,-0.73,-146.6,37.4,-7.4,127,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2481,3967
$GC,709,-0.73,-146.6,43.0,-7.3,143,715,0.00,2.28,0.00,0.000,4,0.000,0.060,2503,1058,3966
$GC,757,-0.73,-146.6,46.9,-8.1,153,763,0.00,2.25,0.00,0.000,6,0.000,0.053,2504,2481,3966
$GC,903,-0.73,-146.6,57.6,-7.3,184,909,0.00,2.28,0.00,0.000,4,0.000,0.061,2503,1054,3966
$GC,958,-0.73,-146.6,61.7,-7.8,195,964,0.00,2.25,0.00,0.000,6,0.000,0.053,2504,2480,3966
$GC,1103,-0.73,-146.6,71.7,-6.8,226,1109,0.00,2.28,0.00,0.000,4,0.000,0.060,2504,1051,3966
$GC,1147,-0.73,-146.6,74.8,-7.4,235,1153,0.00,2.25,0.00,0.000,6,0.000,0.053,2503,2480,3966
$GC,1292,-0.73,-146.6,84.6,-6.7,266,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2480,3966
$GC,1438,-0.73,-146.6,94.2,-6.6,297,1444,0.00,2.25,0.00,0.000,4,0.000,0.061,2504,1061,3966
$GC,1528,-0.73,-146.6,100.6,-7.0,316,1534,0.00,2.22,0.00,0.000,6,0.000,0.054,2503,2476,3965
$STATE,1537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1541,-0.16,0.0,101.3,7.1,318,1648,0.52,0.00,103.15,0.684,6,0.104,0.000,2689,2477,3409
$STATE,1649,end apogee,CONTROL_FINISHED_OK
$STATE,1649,begin climb
$GC,1650,0.73,146.6,104.9,0.0,338,1769,0.77,2.28,112.30,0.656,4,0.061,0.064,2976,3765,2811
$GC,1793,0.75,168.7,100.4,9.0,365,1816,0.00,2.12,18.25,0.615,6,0.000,0.050,2985,2472,2721
$GC,1954,0.75,168.7,83.0,11.7,399,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2472,2719
$GC,2098,0.75,168.7,67.5,11.0,430,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2472,2719
$GC,2242,0.75,168.7,52.3,10.4,461,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2472,2719
$GC,2386,0.75,168.7,37.5,10.7,492,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2472,2718
$GC,2461,0.75,168.7,29.8,10.7,508,2466,0.00,2.10,0.00,0.000,4,0.000,0.067,2985,3761,2718
$GC,2512,0.75,168.7,24.1,11.5,519,2518,0.00,2.05,0.00,0.000,6,0.000,0.052,2995,2462,2718
$GC,2590,0.75,168.9,16.1,10.0,535,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2462,2717
$GC,2666,0.79,199.6,9.0,8.6,551,2693,0.00,0.00,23.60,0.609,6,0.000,0.000,2995,2462,2595
$STATE,2720,end climb,SURFACE_DEPTH_REACHED
$STATE,2720,begin surface coast
$FINISH,3.2,1.019429
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2787,begin surface
$SM_CCo,2799,321.27,0.586,0,0,555,700.07
$SM_GC,1.88,0.00,0.00,321.27,0.000,0.000,0.586,439,2462,555,-7.19,-0.23,700.07
$IRIDIUM_FIX,4748.51,-12221.84,150898,060609
$TT8_MAMPS,0.027612
$HUMID,2002
$INTERNAL_PRESSURE,8.99219
$TCM_TEMP,18.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,60.2,8.2
$24V_AH,24.2,2.120
$10V_AH,10.7,0.694
$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,16.125,35.725,257.300,321.275,0.000,28.618,41.873,232.755,2.250,0.000,0.000,13.025,844.383,767.704,682.353,861.848,360.048,33.332,1183.968,0.000,848.981,0.000,8.779,0.000
$DEVICE_MAMPS,223.197,74.399,684.164,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15822,576
$CAP_FILE_SIZE,60756,0
$CFSIZE,260165632,258539520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,081346,4806.562,-12222.903,13,3.1,32,18.3