version: 66.04
glider: 502
mission: 2
dive: 16
start: 5 21 109 15 1 52
data:
$ID,502
$MISSION,2
$DIVE,16
$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,-2223.313
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,145534,4806.063,-12222.216,16,3.9,35,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.5
$GPS2,150056,4806.050,-12222.189,14,1.1,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.218
$KALMAN_X,252.8,-1.2,-27.6,-488.0,17.0
$KALMAN_Y,-2543.7,-278.3,-22.6,2706.9,-9.4
$MHEAD_RNG_PITCHd_Wd,308.9,4249,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.6,0.0,0.0,0,137,0.00,0.00,-120.22,0.000,2,0.000,0.000,439,2471,3854
$GC,139,-0.73,-146.6,3.4,-4.2,23,156,7.93,0.00,-2.90,0.000,6,0.232,0.000,2500,2471,3964
$GC,226,-0.73,-146.6,10.9,-7.4,41,232,0.00,2.30,0.00,0.000,4,0.000,0.063,2500,1052,3964
$GC,339,-0.73,-146.6,19.4,-7.7,65,345,0.00,2.28,0.00,0.000,6,0.000,0.054,2500,2467,3965
$GC,415,-0.73,-146.6,25.4,-8.3,81,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2467,3965
$GC,490,-0.73,-146.6,31.2,-7.5,97,496,0.00,2.28,0.00,0.000,4,0.000,0.061,2500,1056,3965
$GC,534,-0.73,-146.6,34.8,-8.3,106,539,0.00,2.28,0.00,0.000,6,0.000,0.054,2500,2480,3965
$GC,611,-0.73,-146.6,40.6,-8.0,122,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2480,3966
$GC,755,-0.73,-146.6,51.2,-7.2,153,761,0.00,2.28,0.00,0.000,4,0.000,0.061,2500,1057,3966
$GC,799,-0.73,-146.6,54.7,-7.8,162,805,0.00,2.25,0.00,0.000,6,0.000,0.054,2499,2476,3966
$GC,943,-0.73,-146.6,65.0,-6.9,193,952,0.00,2.28,0.00,0.000,4,0.000,0.061,2500,1052,3966
$GC,985,-0.73,-146.6,68.1,-7.4,201,991,0.00,2.25,0.00,0.000,6,0.000,0.054,2500,2471,3966
$GC,1130,-0.73,-146.6,78.2,-6.6,232,1136,0.00,2.25,0.00,0.000,4,0.000,0.061,2500,1059,3966
$GC,1164,-0.73,-146.6,80.8,-7.3,239,1170,0.00,2.25,0.00,0.000,6,0.000,0.054,2500,2480,3966
$GC,1310,-0.73,-146.6,90.8,-6.8,270,1316,0.00,2.28,0.00,0.000,4,0.000,0.062,2500,1058,3966
$GC,1344,-0.73,-146.6,93.2,-7.0,277,1350,0.00,2.25,0.00,0.000,6,0.000,0.054,2500,2477,3966
$GC,1490,-0.73,-146.6,102.8,-6.5,308,1496,0.00,2.28,0.00,0.000,4,0.000,0.062,2500,1052,3965
$GC,1515,-0.73,-146.6,104.5,-6.8,313,1521,0.00,2.25,0.00,0.000,6,0.000,0.054,2500,2477,3966
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1556,-0.16,0.0,107.1,6.2,321,1663,0.52,0.00,103.05,0.687,6,0.108,0.000,2683,2477,3410
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1665,0.73,146.6,110.3,0.0,341,1789,0.80,2.25,112.95,0.665,4,0.066,0.064,2975,3756,2810
$GC,1853,0.73,146.6,100.8,11.4,378,1859,0.00,2.10,0.00,0.000,6,0.000,0.051,2984,2465,2809
$GC,1998,0.73,146.6,85.2,10.7,409,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2465,2809
$GC,2142,0.73,146.6,70.4,10.1,440,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2465,2808
$GC,2287,0.74,153.9,56.0,9.7,471,2298,0.00,0.00,6.78,0.543,6,0.000,0.000,2984,2465,2781
$GC,2437,0.75,163.6,41.2,9.6,503,2449,0.00,0.00,8.52,0.570,6,0.000,0.000,2984,2465,2742
$GC,2588,0.76,175.1,26.3,9.5,535,2600,0.00,0.00,10.12,0.581,6,0.000,0.000,2984,2465,2696
$GC,2670,0.79,195.1,18.6,9.1,552,2692,0.00,0.00,16.73,0.603,6,0.000,0.000,2984,2465,2612
$GC,2761,0.80,205.1,9.6,9.5,571,2773,0.00,0.00,9.05,0.558,6,0.000,0.000,2984,2465,2572
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2823,begin surface coast
$FINISH,3.1,1.017946
$STATE,2889,end surface coast,CONTROL_FINISHED_OK
$STATE,2890,begin surface
$SM_CCo,2902,340.23,0.587,0,0,555,700.07
$SM_GC,2.25,0.00,0.00,340.23,0.000,0.000,0.587,434,2465,555,-7.21,-0.14,700.07
$IRIDIUM_FIX,4748.51,-12220.12,150898,141415
$TT8_MAMPS,0.026845
$HUMID,1998
$INTERNAL_PRESSURE,8.98243
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,65.4,7.1
$24V_AH,24.1,3.009
$10V_AH,10.7,0.953
$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,16.225,36.075,267.200,340.225,0.000,30.759,30.821,187.415,2.000,0.000,0.000,14.789,866.790,806.314,709.878,894.534,306.197,33.351,1225.637,0.000,879.409,0.000,10.311,0.000
$DEVICE_MAMPS,231.634,64.428,687.232,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15871,598
$CAP_FILE_SIZE,60816,0
$CFSIZE,260165632,258289664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,150056,4806.050,-12222.189,14,1.1,14,18.3