version: 66.04
glider: 500
mission: 1
dive: 6
start: 5 20 109 5 30 53
data:
$ID,500
$MISSION,1
$DIVE,6
$D_SURF,4
$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,600
$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,51563.898
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-2815.5791
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,1878
$C_ROLL_CLIMB,1878
$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,475
$VBD_MAX,3942
$C_VBD,3392
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,400
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-65.923767
$PRESSURE_SLOPE,0.00011603366
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,052701,4805.735,-12221.849,11,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.3
$GPS2,053014,4805.742,-12221.839,10,2.0,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.179,0.095
$KALMAN_X,497.8,98.7,73.4,215.8,186.5
$KALMAN_Y,-2075.3,-1013.9,-232.0,-2474.7,260.6
$MHEAD_RNG_PITCHd_Wd,279.8,517,-23.2,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.04,-85.8,0.0,0.0,0,86,0.00,0.00,-73.78,0.000,2,0.000,0.000,159,1872,2546
$GC,88,-1.11,-146.6,3.5,-4.4,14,142,9.12,2.22,-41.12,0.000,4,0.271,0.078,2354,454,3943
$GC,319,-1.11,-146.6,23.3,-10.3,65,325,0.00,2.17,0.00,0.000,6,0.000,0.054,2346,1885,3945
$GC,390,-1.11,-146.6,31.4,-11.9,81,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1886,3945
$GC,458,-1.11,-146.6,40.2,-12.6,97,465,0.00,2.17,0.00,0.000,4,0.000,0.067,2345,3286,3945
$GC,511,-1.11,-146.6,47.6,-14.0,109,517,0.00,2.15,0.00,0.000,6,0.000,0.053,2345,1867,3945
$GC,647,-1.11,-146.6,67.3,-14.9,140,653,0.00,2.20,0.00,0.000,4,0.000,0.067,2345,3282,3945
$GC,704,-1.11,-146.6,75.5,-14.0,153,710,0.00,2.12,0.00,0.000,6,0.000,0.053,2345,1877,3945
$GC,839,-1.11,-146.6,94.9,-14.6,184,845,0.00,2.17,0.00,0.000,4,0.000,0.067,2345,3280,3945
$GC,879,-1.11,-146.6,100.5,-14.4,193,885,0.00,2.10,0.00,0.000,6,0.000,0.054,2345,1870,3945
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,933,-0.20,0.0,108.1,14.6,205,1039,0.98,0.00,101.85,0.680,6,0.176,0.000,2644,1868,3391
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1041,1.11,146.6,111.2,0.0,225,1157,1.30,0.00,111.88,0.651,6,0.120,0.000,3066,1868,2794
$GC,1287,1.11,146.6,79.5,16.2,277,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1868,2793
$GC,1421,1.11,146.6,59.0,14.9,308,1427,0.00,2.25,0.00,0.000,4,0.000,0.068,3066,3284,2793
$GC,1465,1.11,146.6,52.0,15.9,318,1471,0.00,2.17,0.00,0.000,6,0.000,0.058,3077,1889,2793
$GC,1601,1.11,146.6,31.5,15.0,349,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1889,2792
$GC,1670,1.11,146.6,21.2,14.8,365,1676,0.00,2.20,0.00,0.000,4,0.000,0.069,3077,3287,2792
$GC,1770,1.11,146.6,7.1,12.4,388,1776,0.00,2.17,0.00,0.000,6,0.000,0.059,3085,1877,2792
$GC,1841,1.32,313.7,4.8,-3.1,404,1948,0.17,0.00,104.60,0.608,2,0.090,0.000,3152,1877,2212
$STATE,1948,end climb,SURFACE_DEPTH_REACHED
$STATE,1948,begin surface coast
$FINISH,3.5,1.018305
$STATE,2164,end surface coast,CONTROL_FINISHED_OK
$STATE,2164,begin surface
$SM_CCo,2177,283.77,0.586,0,0,538,700.07
$SM_GC,1.68,0.00,0.00,283.77,0.000,0.000,0.586,154,1876,538,-8.02,-0.06,700.07
$IRIDIUM_FIX,4748.51,-12217.40,140898,050504
$TT8_MAMPS,0.051389
$HUMID,1788
$INTERNAL_PRESSURE,7.98859
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.2,1.553
$10V_AH,10.6,0.573
$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,20.100,26.125,318.325,283.775,0.000,0.000,0.000,0.000,0.750,0.000,0.000,11.906,0.000,954.182,671.920,850.678,24.663,33.314,1080.994,0.000,693.542,0.000,5.594,0.000
$DEVICE_MAMPS,270.751,78.234,679.562,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12725,474
$CAP_FILE_SIZE,73091,0
$CFSIZE,260165632,259129344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,061236,4805.744,-12222.167,9,1.3,25,18.3