version: 66.04
glider: 502
mission: 2
dive: 17
start: 5 21 109 16 28 37
data:
$ID,502
$MISSION,2
$DIVE,17
$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,733.43506
$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,-3338.0911
$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,26
$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
$GPS1,150056,4806.050,-12222.189,14,1.1,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.0
$GPS2,162743,4805.832,-12222.017,190,3.0,209,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.223
$KALMAN_X,555.7,55.5,40.5,-712.4,54.2
$KALMAN_Y,-3152.4,-316.0,-101.9,3039.9,-98.5
$MHEAD_RNG_PITCHd_Wd,310.8,4705,-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,14,-0.73,-146.6,0.0,0.0,0,85,0.00,0.00,-68.05,0.000,2,0.000,0.000,434,2465,2590
$GC,87,-0.73,-146.6,3.1,-1.6,13,141,7.22,0.00,-42.65,0.000,6,0.200,0.000,2503,2465,3962
$GC,211,-0.73,-146.6,8.0,-5.1,38,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2465,3964
$GC,286,-0.73,-146.6,12.3,-6.5,54,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2465,3964
$GC,361,-0.73,-146.6,17.5,-7.1,70,367,0.00,2.10,0.00,0.000,4,0.000,0.067,2496,3761,3965
$GC,400,-0.73,-146.6,20.6,-8.4,78,406,0.00,2.03,0.00,0.000,6,0.000,0.050,2496,2469,3965
$GC,475,-0.73,-146.6,27.3,-9.0,94,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2468,3965
$GC,551,-0.73,-146.6,33.8,-8.5,110,557,0.00,2.25,0.00,0.000,4,0.000,0.061,2496,1049,3965
$GC,603,-0.73,-146.6,38.5,-8.8,121,609,0.00,2.25,0.00,0.000,6,0.000,0.054,2496,2473,3965
$GC,679,-0.73,-146.6,44.6,-7.9,137,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2473,3965
$GC,824,-0.73,-146.6,55.3,-7.1,168,830,0.00,2.25,0.00,0.000,4,0.000,0.061,2495,1060,3965
$GC,877,-0.73,-146.6,59.5,-8.1,179,883,0.00,2.22,0.00,0.000,6,0.000,0.053,2495,2473,3965
$GC,1024,-0.73,-146.6,70.0,-6.9,210,1030,0.00,2.25,0.00,0.000,4,0.000,0.061,2495,1059,3965
$GC,1077,-0.73,-146.6,74.0,-7.5,221,1082,0.00,2.22,0.00,0.000,6,0.000,0.054,2495,2470,3965
$GC,1222,-0.73,-146.6,84.1,-7.1,252,1228,0.00,2.25,0.00,0.000,4,0.000,0.061,2495,1053,3964
$GC,1258,-0.73,-146.6,86.5,-7.3,259,1263,0.00,2.22,0.00,0.000,6,0.000,0.053,2496,2469,3964
$GC,1403,-0.73,-146.6,96.5,-6.9,290,1409,0.00,2.25,0.00,0.000,4,0.000,0.061,2495,1055,3964
$GC,1442,-0.73,-146.6,99.3,-7.2,298,1448,0.00,2.25,0.00,0.000,6,0.000,0.054,2495,2480,3964
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1575,-0.16,0.0,108.2,6.9,326,1682,0.55,0.00,102.40,0.679,6,0.105,0.000,2688,2480,3409
$STATE,1683,end apogee,CONTROL_FINISHED_OK
$STATE,1683,begin climb
$GC,1684,0.73,146.6,111.5,0.0,346,1803,0.77,2.28,112.05,0.650,4,0.061,0.065,2976,3766,2811
$GC,1854,0.73,146.6,103.4,11.1,379,1860,0.00,2.12,0.00,0.000,6,0.000,0.049,2985,2462,2809
$GC,2000,0.73,146.6,88.0,10.5,410,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2462,2808
$GC,2144,0.73,146.6,72.4,11.0,441,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2462,2808
$GC,2288,0.73,146.6,57.1,10.7,472,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2462,2808
$GC,2433,0.74,156.5,42.7,9.5,503,2445,0.00,0.00,8.55,0.571,6,0.000,0.000,2985,2462,2770
$GC,2584,0.74,160.8,27.8,9.8,535,2591,0.00,0.00,4.65,0.476,6,0.000,0.000,2985,2462,2754
$GC,2661,0.78,188.4,20.9,8.7,551,2688,0.00,0.00,22.10,0.611,6,0.000,0.000,2985,2462,2640
$GC,2757,0.82,225.0,12.1,8.3,571,2790,0.00,0.00,28.48,0.604,6,0.000,0.000,2985,2462,2491
$GC,2860,1.07,428.5,5.9,0.6,592,3004,0.25,0.00,140.73,0.597,2,0.058,0.000,3098,2462,1739
$STATE,3005,end climb,SURFACE_DEPTH_REACHED
$STATE,3005,begin surface coast
$FINISH,4.1,1.016342
$STATE,3168,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3168,begin surface
$SM_CCo,3182,272.85,0.561,11,0,419,733.44
$SM_GC,2.25,0.00,0.00,272.85,0.000,0.000,0.561,440,2462,419,-7.19,-0.23,733.44
$IRIDIUM_FIX,4751.72,-12221.84,150898,161641
$TT8_MAMPS,0.026845
$HUMID,1992
$INTERNAL_PRESSURE,8.99219
$TCM_TEMP,18.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,65.0,7.1
$24V_AH,24.1,3.144
$10V_AH,10.7,1.019
$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,16.150,30.950,418.950,272.850,0.000,165.861,298.461,0.000,3.000,0.000,0.000,210.239,906.760,1093.374,795.059,1176.619,524.345,33.323,1367.674,0.000,959.875,0.000,9.990,0.000
$DEVICE_MAMPS,200.187,66.729,678.795,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18986,654
$CAP_FILE_SIZE,59985,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,11,0
$GPS,210509,173231,4806.002,-12222.378,299,1.8,299,18.3