version: 66.04
glider: 502
mission: 2
dive: 10
start: 5 21 109 9 25 20
data:
$ID,502
$MISSION,2
$DIVE,10
$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,-2095.9287
$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,27
$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
$GPS1,091506,4806.791,-12223.057,146,1.0,150,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.0
$GPS2,092425,4806.846,-12223.096,24,1.2,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,0.110
$KALMAN_X,182.4,128.7,7.8,-1700.8,-73.8
$KALMAN_Y,-1649.3,-637.4,-128.6,3746.9,129.2
$MHEAD_RNG_PITCHd_Wd,32.1,308,-27.2,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.93,-63.1,0.0,0.0,0,99,0.00,0.00,-83.45,0.000,2,0.000,0.000,437,2468,2967
$GC,101,-1.01,-131.3,3.2,-2.7,16,146,7.75,2.12,-30.00,0.000,4,0.242,0.081,2407,3759,3946
$GC,363,-1.01,-131.3,23.3,-10.4,71,369,0.00,2.05,0.00,0.000,6,0.000,0.050,2408,2458,3949
$GC,439,-1.01,-131.3,31.3,-10.7,87,444,0.00,2.22,0.00,0.000,4,0.000,0.061,2408,1062,3949
$GC,477,-1.01,-131.3,35.9,-12.2,95,483,0.00,2.25,0.00,0.000,6,0.000,0.054,2407,2476,3949
$GC,552,-1.01,-131.3,45.0,-11.8,111,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2476,3949
$GC,695,-1.01,-131.3,62.4,-11.9,142,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2476,3949
$GC,839,-1.01,-131.3,79.3,-11.4,173,845,0.00,2.25,0.00,0.000,4,0.000,0.060,2407,1062,3949
$GC,895,-1.01,-131.3,85.4,-11.7,184,901,0.00,2.22,0.00,0.000,6,0.000,0.054,2407,2470,3949
$GC,1040,-1.01,-131.3,101.9,-11.0,215,1046,0.00,2.25,0.00,0.000,4,0.000,0.061,2407,1059,3949
$STATE,1050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1050,begin apogee
$GC,1055,-0.16,0.0,103.2,11.3,217,1161,0.82,0.00,100.00,0.666,6,0.125,0.000,2683,2482,3409
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1164,1.01,131.3,106.0,0.0,237,1272,1.05,2.25,100.82,0.639,4,0.064,0.063,3064,3759,2872
$GC,1438,1.01,131.3,79.4,14.4,293,1444,0.00,2.08,0.00,0.000,6,0.000,0.051,3069,2462,2870
$GC,1583,1.01,131.3,60.9,12.4,324,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2462,2870
$GC,1727,1.01,131.3,44.2,11.4,355,1733,0.00,2.12,0.00,0.000,4,0.000,0.064,3069,3767,2869
$GC,1863,1.01,131.3,27.0,13.0,384,1868,0.00,2.05,0.00,0.000,6,0.000,0.051,3076,2469,2869
$GC,1938,1.01,131.3,17.8,11.2,400,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2468,2869
$GC,2012,1.01,131.3,9.9,10.7,416,2018,0.00,2.10,0.00,0.000,4,0.000,0.065,3076,3767,2868
$STATE,2063,end climb,SURFACE_DEPTH_REACHED
$STATE,2063,begin surface coast
$FINISH,3.5,1.020697
$STATE,2116,end surface coast,CONTROL_FINISHED_OK
$STATE,2116,begin surface
$SM_CCo,2132,354.98,0.581,1,1,561,698.60
$SM_CCo,2494,0.62,0.091,0,0,556,700.07
$SM_GC,1.71,0.00,0.00,0.62,0.000,0.000,0.091,440,2467,556,-7.19,-0.08,700.07
$IRIDIUM_FIX,4751.72,-12153.14,150898,090900
$TT8_MAMPS,0.026845
$HUMID,1980
$INTERNAL_PRESSURE,8.99219
$TCM_TEMP,18.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.1,31.5
$24V_AH,24.2,2.350
$10V_AH,10.7,0.760
$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,17.075,30.325,200.825,355.600,0.000,54.355,65.966,252.301,3.250,0.000,0.000,31.459,633.758,635.568,656.722,684.388,453.219,33.322,1041.894,0.000,651.499,0.000,21.112,0.000
$DEVICE_MAMPS,241.605,80.535,665.756,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12691,438
$CAP_FILE_SIZE,49136,8
$CFSIZE,260165632,258490368
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,2,1,0
$GPS,210509,100732,4806.987,-12222.857,13,1.2,13,18.3