version: 66.04
glider: 502
mission: 2
dive: 9
start: 5 21 109 8 20 11
data:
$ID,502
$MISSION,2
$DIVE,9
$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,-2063.8416
$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,23
$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
$GPS1,081346,4806.562,-12222.903,13,3.1,32,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.3
$GPS2,081916,4806.547,-12222.864,14,3.4,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.049,0.255
$KALMAN_X,291.9,149.1,30.3,-1569.2,-10.5
$KALMAN_Y,-1619.6,-688.0,-142.0,3228.5,23.6
$MHEAD_RNG_PITCHd_Wd,330.9,855,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.73,-146.6,0.0,0.0,0,116,0.00,0.00,-99.22,0.000,2,0.000,0.000,439,2462,3398
$GC,118,-0.73,-146.6,3.0,-2.3,19,152,7.93,2.30,-17.48,0.000,4,0.232,0.074,2502,1061,3963
$GC,176,-0.73,-146.6,5.4,-6.2,30,182,0.00,2.28,0.00,0.000,6,0.000,0.054,2502,2473,3963
$GC,252,-0.73,-146.6,10.2,-6.5,46,258,0.00,2.10,0.00,0.000,4,0.000,0.067,2493,3763,3964
$GC,272,-0.73,-146.6,11.7,-6.9,50,278,0.00,2.05,0.00,0.000,6,0.000,0.050,2493,2468,3964
$GC,348,-0.73,-146.6,17.0,-7.0,66,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2468,3965
$GC,423,-0.73,-146.6,22.6,-7.6,82,429,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,1060,3965
$GC,471,-0.73,-146.6,26.4,-8.2,92,477,0.00,2.25,0.00,0.000,6,0.000,0.054,2493,2473,3965
$GC,548,-0.73,-146.6,32.3,-7.8,108,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2473,3965
$GC,625,-0.73,-146.6,38.2,-7.7,124,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2473,3965
$GC,701,-0.73,-146.6,43.9,-7.5,140,707,0.00,2.25,0.00,0.000,4,0.000,0.060,2493,1062,3966
$GC,744,-0.73,-146.6,47.4,-7.8,149,750,0.00,2.22,0.00,0.000,6,0.000,0.054,2493,2470,3966
$GC,888,-0.73,-146.6,58.3,-7.7,180,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2470,3966
$GC,1034,-0.73,-146.6,69.2,-7.0,211,1040,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,1059,3965
$GC,1096,-0.73,-146.6,74.1,-7.6,224,1102,0.00,2.22,0.00,0.000,6,0.000,0.053,2493,2472,3966
$GC,1241,-0.73,-146.6,84.8,-7.2,255,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2472,3965
$GC,1386,-0.73,-146.6,95.0,-6.8,286,1392,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,1055,3965
$GC,1457,-0.73,-146.6,100.6,-7.6,301,1463,0.00,2.22,0.00,0.000,6,0.000,0.054,2493,2470,3965
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1470,-0.16,0.0,101.3,7.5,303,1578,0.55,0.00,103.03,0.682,6,0.106,0.000,2684,2470,3409
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,0.73,146.6,104.6,0.0,323,1703,0.80,2.25,112.65,0.657,4,0.063,0.064,2978,3753,2810
$GC,1745,0.73,146.6,97.7,10.2,355,1751,0.00,2.10,0.00,0.000,6,0.000,0.051,2985,2465,2810
$GC,1890,0.73,146.6,82.8,10.3,386,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2465,2809
$GC,2034,0.73,146.6,67.9,10.3,417,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2465,2808
$GC,2179,0.73,152.9,53.7,9.7,448,2190,0.00,0.00,6.12,0.524,6,0.000,0.000,2985,2465,2785
$GC,2330,0.73,152.9,38.9,10.1,480,2335,0.00,2.12,0.00,0.000,4,0.000,0.065,2985,3770,2785
$GC,2391,0.73,152.9,32.3,11.0,493,2397,0.00,2.05,0.00,0.000,6,0.000,0.051,2994,2468,2784
$GC,2467,0.74,156.3,24.7,9.8,509,2473,0.00,0.00,4.25,0.453,6,0.000,0.000,2994,2468,2772
$GC,2543,0.75,163.0,17.3,9.7,525,2554,0.00,0.00,6.65,0.535,6,0.000,0.000,2994,2469,2743
$GC,2624,0.76,170.3,9.7,9.7,542,2635,0.00,0.00,6.95,0.538,6,0.000,0.000,2994,2468,2714
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,3.2,1.020133
$STATE,2752,end surface coast,CONTROL_FINISHED_OK
$STATE,2752,begin surface
$SM_CCo,2764,348.05,0.586,0,0,555,700.07
$SM_GC,2.08,0.00,0.00,348.05,0.000,0.000,0.586,437,2468,555,-7.20,-0.06,700.07
$IRIDIUM_FIX,4742.09,-12421.56,150898,070737
$TT8_MAMPS,0.026845
$HUMID,2006
$INTERNAL_PRESSURE,8.99219
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,60.2,7.1
$24V_AH,24.2,2.235
$10V_AH,10.7,0.727
$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,16.325,35.175,239.650,348.050,0.000,28.174,33.871,174.211,1.250,0.000,0.000,34.920,835.238,759.958,699.638,873.203,292.683,33.356,1195.244,0.000,838.985,0.000,8.773,0.000
$DEVICE_MAMPS,232.401,73.632,681.863,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15864,569
$CAP_FILE_SIZE,59654,0
$CFSIZE,260165632,258506752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,091506,4806.791,-12223.057,146,1.0,150,18.3