version: 66.04
glider: 502
mission: 2
dive: 11
start: 5 21 109 10 13 4
data:
$ID,502
$MISSION,2
$DIVE,11
$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,-2111.6152
$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
$GPS1,100732,4806.987,-12222.857,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.3
$GPS2,101208,4806.985,-12222.866,14,1.2,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.222
$KALMAN_X,197.1,114.4,-4.1,-1410.8,-67.1
$KALMAN_Y,-1721.5,-561.2,-81.9,3955.3,97.0
$MHEAD_RNG_PITCHd_Wd,130.3,2115,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-73.82,0.000,2,0.000,0.000,441,2468,2701
$GC,92,-0.73,-146.6,3.0,-2.5,14,147,8.00,2.30,-39.55,0.000,4,0.234,0.075,2503,1055,3963
$GC,244,-0.73,-146.6,9.8,-5.6,45,250,0.00,2.28,0.00,0.000,6,0.000,0.054,2503,2470,3964
$GC,321,-0.73,-146.6,14.5,-5.9,61,326,0.00,2.10,0.00,0.000,4,0.000,0.067,2495,3763,3965
$GC,359,-0.73,-146.6,17.1,-6.8,69,365,0.00,2.05,0.00,0.000,6,0.000,0.049,2495,2464,3965
$GC,435,-0.73,-146.6,22.7,-7.6,85,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2464,3965
$GC,510,-0.73,-146.6,28.5,-7.8,101,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2464,3965
$GC,585,-0.73,-146.6,34.6,-8.3,117,591,0.00,2.22,0.00,0.000,4,0.000,0.061,2495,1061,3965
$GC,656,-0.73,-146.6,40.5,-8.4,132,663,0.00,2.25,0.00,0.000,6,0.000,0.054,2495,2480,3966
$GC,802,-0.73,-146.6,52.0,-7.6,163,808,0.00,2.28,0.00,0.000,4,0.000,0.060,2494,1056,3966
$GC,847,-0.73,-146.6,55.3,-7.2,172,853,0.00,2.25,0.00,0.000,6,0.000,0.053,2495,2480,3966
$GC,996,-0.73,-146.6,65.9,-7.0,203,1003,0.00,2.28,0.00,0.000,4,0.000,0.061,2495,1055,3966
$GC,1031,-0.73,-146.6,68.7,-7.5,210,1037,0.00,2.25,0.00,0.000,6,0.000,0.053,2495,2480,3966
$GC,1178,-0.73,-146.6,79.2,-7.0,241,1184,0.00,2.28,0.00,0.000,4,0.000,0.061,2495,1052,3965
$GC,1212,-0.73,-146.6,81.8,-7.4,248,1218,0.00,2.25,0.00,0.000,6,0.000,0.053,2495,2481,3966
$GC,1359,-0.73,-146.6,91.5,-6.6,279,1365,0.00,2.25,0.00,0.000,4,0.000,0.060,2495,1062,3965
$GC,1403,-0.73,-146.6,94.7,-6.9,288,1409,0.00,2.22,0.00,0.000,6,0.000,0.054,2495,2474,3965
$GC,1548,-0.73,-146.6,104.0,-6.7,319,1554,0.00,2.25,0.00,0.000,4,0.000,0.060,2495,1055,3965
$STATE,1562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1562,begin apogee
$GC,1568,-0.16,0.0,105.0,6.5,322,1675,0.55,0.00,102.93,0.676,6,0.107,0.000,2686,2483,3409
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1677,0.73,146.6,108.3,0.0,342,1801,0.77,2.22,112.57,0.657,4,0.064,0.064,2973,3750,2810
$GC,1829,0.73,146.6,102.5,10.0,371,1835,0.00,2.10,0.00,0.000,6,0.000,0.049,2979,2465,2810
$GC,1974,0.73,152.2,87.7,9.7,402,1985,0.00,0.00,5.45,0.501,6,0.000,0.000,2980,2466,2790
$GC,2124,0.73,152.2,72.3,10.2,434,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2466,2790
$GC,2270,0.74,153.8,57.4,9.9,465,2276,0.00,2.12,0.00,0.000,4,0.000,0.065,2980,3767,2789
$GC,2294,0.74,153.8,54.6,10.8,470,2300,0.00,2.08,0.00,0.000,6,0.000,0.051,2981,2459,2789
$GC,2440,0.74,153.8,39.5,10.3,501,2446,0.00,2.12,0.00,0.000,4,0.000,0.066,2981,3768,2789
$GC,2464,0.74,153.8,36.8,10.6,506,2470,0.00,2.05,0.00,0.000,6,0.000,0.051,2985,2470,2788
$GC,2539,0.75,167.1,29.3,9.4,522,2556,0.00,0.00,12.60,0.599,6,0.000,0.000,2985,2470,2727
$GC,2626,0.75,167.1,20.8,10.2,540,2631,0.00,2.28,0.00,0.000,4,0.000,0.064,2986,1062,2727
$GC,2660,0.75,168.2,17.4,10.0,547,2666,0.00,2.25,0.00,0.000,6,0.000,0.053,2986,2471,2727
$GC,2735,0.77,185.9,10.4,9.2,563,2753,0.00,0.00,15.35,0.597,6,0.000,0.000,2986,2471,2651
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,3.3,1.018733
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2882,316.02,0.586,0,0,556,700.07
$SM_GC,1.77,0.00,0.00,316.02,0.000,0.000,0.586,440,2472,556,-7.19,0.06,700.07
$IRIDIUM_FIX,4748.51,-12214.67,150898,090959
$TT8_MAMPS,0.026845
$HUMID,2002
$INTERNAL_PRESSURE,8.98243
$TCM_TEMP,18.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,60.2,8.2
$24V_AH,24.2,2.460
$10V_AH,10.7,0.793
$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,16.325,53.000,248.900,316.025,0.000,26.601,30.270,147.410,1.750,0.000,0.000,15.058,875.441,791.359,681.836,884.527,262.546,33.324,1196.943,0.000,871.580,0.000,8.777,0.000
$DEVICE_MAMPS,233.935,75.166,675.727,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15863,591
$CAP_FILE_SIZE,61992,0
$CFSIZE,260165632,258441216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,110722,4806.703,-12222.675,8,3.2,27,18.3