version: 66.04
glider: 502
mission: 2
dive: 13
start: 5 21 109 12 12 51
data:
$ID,502
$MISSION,2
$DIVE,13
$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,-2142.1362
$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,25
$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
$GPS1,120655,4806.366,-12222.474,40,1.1,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.4
$GPS2,121156,4806.357,-12222.473,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,-0.203
$KALMAN_X,211.5,56.9,-43.8,-839.8,-14.3
$KALMAN_Y,-2062.0,-437.7,-14.9,2946.8,52.6
$MHEAD_RNG_PITCHd_Wd,122.9,883,-17.5,-10.000
$D_GRID,107
$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,15,-0.73,-146.6,0.0,0.0,0,133,0.00,0.00,-114.95,0.000,2,0.000,0.000,442,2477,3779
$GC,135,-0.73,-146.6,3.2,-2.5,22,154,8.23,2.35,-4.95,0.000,4,0.246,0.076,2497,1050,3963
$GC,418,-0.73,-146.6,26.4,-8.4,82,424,0.00,2.28,0.00,0.000,6,0.000,0.054,2498,2476,3965
$GC,494,-0.73,-146.6,32.1,-7.8,98,500,0.00,2.28,0.00,0.000,4,0.000,0.061,2498,1060,3965
$GC,649,-0.73,-146.6,44.7,-8.3,131,655,0.00,2.25,0.00,0.000,6,0.000,0.054,2497,2477,3965
$GC,794,-0.73,-146.6,56.3,-8.1,162,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2477,3966
$GC,940,-0.73,-146.6,67.1,-7.2,193,946,0.00,2.28,0.00,0.000,4,0.000,0.061,2497,1053,3965
$GC,1026,-0.73,-146.6,73.9,-7.8,211,1031,0.00,2.25,0.00,0.000,6,0.000,0.054,2497,2479,3965
$GC,1171,-0.73,-146.6,84.2,-6.9,242,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2479,3965
$GC,1317,-0.73,-146.6,94.3,-7.0,273,1323,0.00,2.28,0.00,0.000,4,0.000,0.061,2497,1051,3965
$GC,1402,-0.73,-146.6,100.8,-7.5,291,1408,0.00,2.25,0.00,0.000,6,0.000,0.054,2497,2480,3965
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1500,-0.16,0.0,107.1,6.7,311,1607,0.52,0.00,103.07,0.688,6,0.106,0.000,2682,2480,3409
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1609,0.73,146.6,110.8,0.0,331,1732,0.80,2.25,112.80,0.667,4,0.066,0.064,2974,3757,2811
$GC,1764,0.73,146.6,104.8,10.1,361,1770,0.00,2.12,0.00,0.000,6,0.000,0.050,2983,2462,2810
$GC,1910,0.73,146.6,89.5,10.6,392,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2462,2809
$GC,2053,0.73,146.6,74.5,10.3,423,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2462,2809
$GC,2198,0.73,147.8,60.0,9.9,454,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2462,2808
$GC,2342,0.73,152.2,45.8,9.8,485,2354,0.00,2.12,5.55,0.513,4,0.000,0.064,2982,3762,2788
$GC,2377,0.73,152.2,42.1,10.7,492,2383,0.00,2.05,0.00,0.000,6,0.000,0.051,2991,2470,2788
$GC,2522,0.75,166.3,27.7,9.3,523,2539,0.00,2.15,11.98,0.594,4,0.000,0.066,2990,3758,2730
$GC,2563,0.75,166.3,23.4,10.9,531,2569,0.00,2.08,0.00,0.000,6,0.000,0.051,2999,2458,2730
$GC,2638,0.75,166.3,15.4,10.1,547,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2458,2730
$GC,2713,0.75,167.9,7.6,9.9,563,2719,0.00,2.25,0.00,0.000,4,0.000,0.064,3000,1061,2729
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,3.0,1.020925
$STATE,2766,end surface coast,CONTROL_FINISHED_OK
$STATE,2766,begin surface
$SM_CCo,2781,312.77,0.588,0,0,555,700.07
$SM_GC,1.61,0.00,0.00,312.77,0.000,0.000,0.588,436,2471,555,-7.20,0.03,700.07
$IRIDIUM_FIX,4748.51,-12226.29,150898,111123
$TT8_MAMPS,0.027612
$HUMID,1991
$INTERNAL_PRESSURE,8.97266
$TCM_TEMP,18.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.1,7.1
$24V_AH,24.1,2.679
$10V_AH,10.7,0.858
$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,16.600,35.500,233.400,312.775,0.000,24.819,27.665,176.801,2.500,0.000,0.000,12.983,824.633,788.151,648.961,859.331,284.072,33.315,1133.108,0.000,845.309,0.000,13.080,0.000
$DEVICE_MAMPS,246.207,75.933,687.999,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15842,574
$CAP_FILE_SIZE,55242,0
$CFSIZE,260165632,258383872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,210509,130502,4806.092,-12222.195,13,1.7,13,18.3