version: 66.04
glider: 124
mission: 6
dive: 6
start: 2 10 109 15 42 15
data:
$ID,124
$MISSION,6
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,100
$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,167
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,1.0274
$MASS,51611
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,618.89191
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-268325.12
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2011
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2033
$C_ROLL_CLIMB,2033
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,2767
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,420
$PITCH_VBD_SHIFT,0.00134
$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,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.425274
$PRESSURE_SLOPE,0.0001163584
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$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,0.0043265149
$SEABIRD_T_H,0.00064168178
$SEABIRD_T_I,2.4457093e-05
$SEABIRD_T_J,2.5322809e-06
$SEABIRD_C_G,-10.215697
$SEABIRD_C_H,1.1758331
$SEABIRD_C_I,-0.0032783125
$SEABIRD_C_J,0.00027735153
$GPS1,152257,1119.144,12157.265,49,1.8,49,-0.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-45.4
$GPS2,154154,1119.424,12157.272,33,1.8,49,-0.6
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,SECO
$TGT_LATLONG,1115.070,12146.540
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,248.1,21097,-18.7,-9.980
$D_GRID,500
$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,15,-1.49,-146.0,0.0,0.0,0,82,0.00,0.00,-64.60,0.000,2,0.000,0.000,39,2030,1959
$GC,86,-1.49,-146.0,3.2,-1.6,11,135,6.68,2.28,-37.85,0.000,4,0.255,0.075,1678,3451,3365
$GC,305,-1.22,-146.0,50.8,-21.8,49,312,0.22,2.15,0.00,0.000,6,0.159,0.045,1744,2025,3365
$GC,651,-1.22,-146.0,113.0,-13.8,110,657,0.00,2.15,0.00,0.000,4,0.000,0.055,1744,618,3365
$GC,738,-1.27,-146.0,124.0,-12.5,125,744,0.00,2.17,0.00,0.000,6,0.000,0.047,1744,2053,3365
$GC,1084,-1.48,-146.0,158.8,-9.2,186,1091,0.20,2.17,0.00,0.000,4,0.079,0.054,1660,623,3365
$GC,1121,-1.40,-146.0,163.5,-14.0,192,1128,0.12,2.17,0.00,0.000,6,0.150,0.048,1701,2038,3365
$GC,1466,-1.48,-146.0,202.0,-10.1,253,1473,0.00,2.15,0.00,0.000,4,0.000,0.061,1701,3446,3365
$GC,1592,-1.63,-146.0,215.1,-10.4,275,1599,0.15,2.12,0.00,0.000,6,0.082,0.046,1644,2024,3365
$GC,1933,-1.54,-146.0,260.0,-12.9,329,1937,0.12,2.20,0.00,0.000,4,0.160,0.060,1678,3455,3363
$GC,2140,-1.64,-146.0,282.9,-10.2,347,2147,0.10,2.15,0.00,0.000,6,0.091,0.046,1642,2019,3361
$GC,2466,-1.57,-146.0,325.3,-11.9,378,2470,0.12,2.20,0.00,0.000,4,0.163,0.061,1677,3446,3359
$GC,2516,-1.66,-146.0,331.0,-10.5,382,2521,0.12,2.12,0.00,0.000,6,0.084,0.047,1631,2033,3359
$GC,2847,-1.55,-146.0,374.7,-14.0,413,2851,0.15,2.20,0.00,0.000,4,0.148,0.061,1674,3457,3357
$GC,2942,-1.65,-146.0,387.0,-14.3,421,2947,0.10,2.15,0.00,0.000,6,0.101,0.048,1639,2031,3356
$GC,3272,-1.60,-146.0,432.5,-13.6,452,3277,0.10,2.17,0.00,0.000,4,0.163,0.058,1666,623,3354
$GC,3339,-1.66,-146.0,440.3,-11.8,457,3345,0.00,2.17,0.00,0.000,6,0.000,0.051,1666,2046,3354
$GC,3666,-1.73,-146.0,476.1,-13.4,488,3671,0.12,2.17,0.00,0.000,4,0.091,0.063,1618,3452,3350
$GC,3797,-1.87,-146.0,495.6,-13.2,499,3801,0.00,2.15,0.00,0.000,6,0.000,0.048,1618,2033,3349
$STATE,3955,end dive,NO_VERTICAL_VELOCITY
$STATE,3955,begin apogee
$GC,3961,-0.34,0.0,495.8,0.0,514,4069,0.82,0.00,103.38,0.872,6,0.045,0.000,1959,2029,2767
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4070,begin climb
$GC,4073,1.49,146.0,495.9,0.0,525,4191,1.05,2.35,108.50,0.836,4,0.061,0.058,2346,611,2170
$GC,4446,2.32,356.1,496.2,-0.3,558,4615,0.47,2.25,157.38,0.839,6,0.048,0.051,2540,2042,1315
$GC,4930,1.38,356.1,346.3,39.2,604,4935,0.75,2.28,0.00,0.000,4,0.167,0.058,2323,606,1304
$GC,4975,0.92,356.1,331.2,29.0,607,4982,0.38,2.22,0.00,0.000,6,0.140,0.050,2208,2035,1302
$GC,5300,0.92,356.1,274.4,16.5,638,5303,0.00,2.20,0.00,0.000,4,0.000,0.061,2208,3448,1300
$GC,5368,0.88,356.1,262.6,17.0,644,5372,0.00,2.20,0.00,0.000,6,0.000,0.049,2216,2028,1300
$GC,5707,0.88,356.1,206.3,16.7,698,5713,0.00,2.17,0.00,0.000,4,0.000,0.061,2224,610,1299
$GC,5760,0.88,356.1,197.5,17.0,707,5766,0.10,2.20,0.00,0.000,6,0.137,0.049,2197,2044,1298
$GC,6106,0.98,356.1,148.8,14.1,768,6113,0.10,2.22,0.00,0.000,4,0.079,0.060,2251,624,1297
$GC,6177,0.98,356.1,139.4,13.4,780,6184,0.12,2.17,0.00,0.000,6,0.131,0.050,2215,2042,1297
$GC,6523,1.24,402.0,104.2,7.7,841,6561,0.20,2.33,32.22,0.591,4,0.060,0.058,2318,606,1127
$GC,6686,1.12,402.0,80.6,16.1,869,6693,0.22,2.22,0.00,0.000,6,0.123,0.048,2248,2042,1125
$GC,7031,1.30,402.0,42.8,11.0,930,7038,0.15,2.22,0.00,0.000,4,0.064,0.057,2320,618,1122
$GC,7192,1.30,402.0,20.2,13.2,958,7199,0.08,2.20,0.00,0.000,6,0.123,0.047,2292,2041,1122
$STATE,7490,end climb,NO_VERTICAL_VELOCITY
$STATE,7490,begin surface
$SM_CCo,7493,91.30,0.473,0,0,244,618.89
$SM_GC,2.73,5.90,0.00,0.00,0.044,0.000,0.000,31,2044,238,-9.01,0.34,620.36
$IRIDIUM_FIX,1115.06,12158.92,070598,151524
$TT8_MAMPS,0.026078
$HUMID,1803
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,4.602
$10V_AH,10.8,1.744
$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,18.675,70.325,401.475,91.300,0.000,151.029,193.826,360.268,0.500,0.000,0.000,51.538,1573.015,4023.611,558.026,1849.239,950.130,0.000,1434.849,0.000,1797.131,0.000,0.550,0.000
$DEVICE_MAMPS,255.411,75.166,872.079,473.239,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,690.188,585.159,517.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56944,1011
$CAP_FILE_SIZE,97890,0
$CFSIZE,260165632,255459328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100209,175527,1119.609,12156.191,121,6.8,140,-0.6