version: 66.04
glider: 502
mission: 2
dive: 18
start: 5 21 109 17 49 11
data:
$ID,502
$MISSION,2
$DIVE,18
$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,-3373.1223
$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
$GPS1,173231,4806.002,-12222.378,299,1.8,299,18.3
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.3
$GPS2,174816,4805.859,-12222.227,14,2.4,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.227
$KALMAN_X,601.6,35.5,56.4,-1003.9,80.6
$KALMAN_Y,-3478.2,-301.8,-162.7,3453.2,-145.4
$MHEAD_RNG_PITCHd_Wd,312.7,4531,-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,13,-0.73,-146.6,0.0,0.0,0,58,0.00,0.00,-42.78,0.000,2,0.000,0.000,441,2462,1723
$GC,60,-0.73,-146.6,3.3,-4.3,8,132,7.90,2.17,-58.03,0.000,4,0.229,0.080,2494,3759,3963
$GC,396,-0.73,-146.6,21.8,-7.3,78,402,0.00,2.05,0.00,0.000,6,0.000,0.048,2494,2457,3965
$GC,472,-0.73,-146.6,27.6,-7.9,94,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2457,3965
$GC,547,-0.73,-146.6,33.8,-8.2,110,553,0.00,2.22,0.00,0.000,4,0.000,0.059,2494,1055,3965
$GC,581,-0.73,-146.6,36.8,-8.8,117,587,0.00,2.25,0.00,0.000,6,0.000,0.053,2493,2474,3966
$GC,657,-0.73,-146.6,43.0,-8.0,133,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2474,3965
$GC,802,-0.73,-146.6,54.9,-8.1,164,809,0.00,2.25,0.00,0.000,4,0.000,0.060,2493,1063,3966
$GC,875,-0.73,-146.6,61.0,-8.5,179,881,0.00,2.22,0.00,0.000,6,0.000,0.053,2493,2470,3966
$GC,1020,-0.73,-146.6,72.0,-7.5,210,1026,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,1058,3965
$GC,1059,-0.73,-146.6,75.0,-7.9,218,1065,0.00,2.22,0.00,0.000,6,0.000,0.053,2492,2472,3966
$GC,1204,-0.73,-146.6,85.3,-6.9,249,1210,0.00,2.25,0.00,0.000,4,0.000,0.061,2492,1062,3965
$GC,1239,-0.73,-146.6,87.9,-7.7,256,1245,0.00,2.22,0.00,0.000,6,0.000,0.054,2493,2471,3965
$GC,1384,-0.73,-146.6,97.9,-7.0,287,1390,0.00,2.25,0.00,0.000,4,0.000,0.061,2493,1056,3965
$GC,1428,-0.73,-146.6,101.2,-7.6,296,1434,0.00,2.22,0.00,0.000,6,0.000,0.053,2493,2470,3965
$STATE,1484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1487,-0.16,0.0,105.3,7.3,308,1595,0.55,0.00,103.20,0.683,6,0.106,0.000,2684,2470,3409
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1595,begin climb
$GC,1597,0.73,146.6,108.6,0.0,328,1715,0.80,0.00,112.88,0.666,6,0.064,0.000,2978,2470,2811
$GC,1853,0.73,146.6,92.0,10.4,380,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2470,2810
$GC,1997,0.73,146.6,76.9,10.5,411,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2470,2809
$GC,2140,0.73,147.3,62.1,10.0,442,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2470,2808
$GC,2284,0.74,154.0,47.7,9.7,473,2296,0.00,0.00,6.78,0.540,6,0.000,0.000,2978,2470,2781
$GC,2435,0.76,174.9,33.3,9.0,505,2457,0.00,0.00,16.77,0.606,6,0.000,0.000,2978,2470,2696
$GC,2526,0.76,176.9,24.4,9.9,524,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2470,2696
$GC,2601,0.79,195.6,17.1,9.1,540,2624,0.00,2.35,17.00,0.597,4,0.000,0.064,2986,1056,2611
$GC,2671,0.81,215.8,10.7,9.1,554,2694,0.00,2.30,16.60,0.588,6,0.000,0.054,2986,2475,2529
$GC,2763,1.06,419.6,5.8,0.6,573,2887,0.22,0.00,119.85,0.599,2,0.061,0.000,3093,2475,1888
$STATE,2888,end climb,NO_VERTICAL_VELOCITY
$STATE,2888,begin surface
$SM_CCo,2890,229.48,0.499,26,1,921,610.54
$SM_CCo,3252,103.22,0.550,3,0,420,733.44
$SM_GC,2.07,7.28,0.00,0.00,0.050,0.000,0.000,443,2475,413,-7.12,0.14,735.15
$IRIDIUM_FIX,4748.51,-12224.57,150898,171725
$TT8_MAMPS,0.026845
$HUMID,1995
$INTERNAL_PRESSURE,8.98243
$TCM_TEMP,18.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,60.2,9.2
$24V_AH,24.1,3.301
$10V_AH,10.7,1.068
$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,16.750,31.250,393.075,332.700,0.000,90.402,233.290,403.622,2.250,0.000,0.000,34.400,834.689,988.572,915.396,913.467,784.715,33.323,1443.672,0.000,877.428,0.000,8.796,0.000
$DEVICE_MAMPS,228.566,79.768,682.630,549.939,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15846,596
$CAP_FILE_SIZE,66724,8
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,29,0
$GPS,210509,185133,4806.147,-12222.562,236,1.5,236,18.3