version: 66.04
glider: 502
mission: 2
dive: 15
start: 5 21 109 14 0 23
data:
$ID,502
$MISSION,2
$DIVE,15
$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,-2207.895
$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,20
$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
$GPS1,135428,4805.963,-12221.905,8,2.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.6
$GPS2,135928,4805.950,-12221.892,13,2.2,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.213
$KALMAN_X,268.7,24.9,-33.1,-158.7,8.1
$KALMAN_Y,-2310.3,-308.3,5.5,2286.4,-4.2
$MHEAD_RNG_PITCHd_Wd,306.8,4605,-17.5,-10.000
$D_GRID,108
$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,13,-0.73,-146.6,0.0,0.0,0,136,0.00,0.00,-119.65,0.000,2,0.000,0.000,436,2468,3817
$GC,138,-0.73,-146.6,3.5,-4.4,23,156,8.00,0.00,-3.75,0.000,6,0.235,0.000,2500,2468,3963
$GC,226,-0.73,-146.6,11.9,-7.4,41,232,0.00,2.28,0.00,0.000,4,0.000,0.062,2500,1062,3963
$GC,297,-0.73,-146.6,17.2,-7.7,56,303,0.00,2.28,0.00,0.000,6,0.000,0.055,2500,2478,3963
$GC,373,-0.73,-146.6,22.8,-7.8,72,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2477,3964
$GC,448,-0.73,-146.6,28.8,-8.2,88,454,0.00,2.30,0.00,0.000,4,0.000,0.061,2501,1052,3964
$GC,491,-0.73,-146.6,32.4,-8.5,97,498,0.00,2.28,0.00,0.000,6,0.000,0.054,2500,2479,3964
$GC,569,-0.73,-146.6,38.1,-7.1,113,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2479,3965
$GC,645,-0.73,-146.6,43.9,-7.7,129,651,0.00,2.28,0.00,0.000,4,0.000,0.061,2500,1062,3965
$GC,707,-0.73,-146.6,48.6,-7.6,142,713,0.00,2.22,0.00,0.000,6,0.000,0.054,2500,2469,3965
$GC,854,-0.73,-146.6,59.0,-6.7,173,859,0.00,2.25,0.00,0.000,4,0.000,0.061,2500,1062,3965
$GC,896,-0.73,-146.6,62.5,-7.5,182,902,0.00,2.22,0.00,0.000,6,0.000,0.054,2500,2470,3965
$GC,1044,-0.73,-146.6,72.8,-7.1,213,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2470,3965
$GC,1188,-0.73,-146.6,82.7,-6.9,244,1194,0.00,2.25,0.00,0.000,4,0.000,0.062,2500,1062,3965
$GC,1247,-0.73,-146.6,87.0,-7.3,256,1253,0.00,2.22,0.00,0.000,6,0.000,0.054,2500,2470,3964
$GC,1392,-0.73,-146.6,96.8,-6.8,287,1398,0.00,2.25,0.00,0.000,4,0.000,0.061,2500,1059,3965
$GC,1417,-0.73,-146.6,98.6,-7.0,292,1423,0.00,2.22,0.00,0.000,6,0.000,0.054,2500,2470,3965
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1559,-0.16,0.0,108.1,6.8,322,1666,0.52,0.00,103.00,0.682,6,0.107,0.000,2684,2469,3409
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1668,0.73,146.6,111.7,0.0,342,1791,0.80,2.28,113.03,0.664,4,0.066,0.065,2975,3760,2811
$GC,1865,0.73,146.6,101.0,11.4,381,1872,0.00,2.10,0.00,0.000,6,0.000,0.051,2984,2471,2810
$GC,2011,0.73,146.6,86.0,10.6,412,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2471,2809
$GC,2156,0.73,146.6,71.0,10.7,443,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2470,2809
$GC,2300,0.74,154.2,56.4,9.7,474,2311,0.00,0.00,6.95,0.551,6,0.000,0.000,2984,2471,2781
$GC,2450,0.74,159.9,41.8,9.7,506,2461,0.00,0.00,6.10,0.531,6,0.000,0.000,2984,2470,2756
$GC,2601,0.74,160.3,27.4,10.0,538,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2471,2755
$GC,2676,0.78,191.7,20.4,8.6,554,2703,0.00,0.00,24.67,0.616,6,0.000,0.000,2984,2470,2627
$GC,2773,0.79,197.5,11.1,9.7,574,2784,0.00,0.00,5.93,0.509,6,0.000,0.000,2984,2470,2603
$GC,2854,0.89,281.0,5.0,6.2,591,2867,0.12,0.00,10.55,0.570,2,0.076,0.000,3038,2471,2552
$STATE,2868,end climb,SURFACE_DEPTH_REACHED
$STATE,2868,begin surface coast
$FINISH,2.4,1.017984
$STATE,2953,end surface coast,CONTROL_FINISHED_OK
$STATE,2953,begin surface
$SM_CCo,2965,277.30,0.587,0,0,555,700.07
$SM_GC,1.48,0.00,0.00,277.30,0.000,0.000,0.587,438,2470,555,-7.19,0.00,700.07
$IRIDIUM_FIX,4751.72,-12219.12,150898,131355
$TT8_MAMPS,0.026845
$HUMID,2007
$INTERNAL_PRESSURE,8.9629
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,65.2,7.1
$24V_AH,24.1,2.889
$10V_AH,10.7,0.919
$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,16.700,31.425,270.225,277.300,0.000,24.419,31.348,154.595,2.000,0.000,0.000,33.437,889.008,824.189,649.382,936.086,264.377,33.325,1172.977,0.000,898.411,0.000,10.292,0.000
$DEVICE_MAMPS,235.469,65.195,681.863,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15829,611
$CAP_FILE_SIZE,59864,0
$CFSIZE,260165632,258318336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,145534,4806.063,-12222.216,16,3.9,35,18.3