version: 66.04
glider: 501
mission: 1
dive: 4
start: 5 20 109 0 23 1
data:
$ID,501
$MISSION,1
$DIVE,4
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,4
$T_NO_W,720
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1254.2919
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$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,176
$ROLL_MAX,3805
$ROLL_DEG,40
$C_ROLL_DIVE,2323
$C_ROLL_CLIMB,2323
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,3291
$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,-77.782471
$PRESSURE_SLOPE,0.00011616675
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043285219
$SEABIRD_T_H,0.00062656443
$SEABIRD_T_I,2.463825e-05
$SEABIRD_T_J,2.7343538e-06
$SEABIRD_C_G,-9.9374466
$SEABIRD_C_H,1.125646
$SEABIRD_C_I,-0.0010839187
$SEABIRD_C_J,0.00017799769
$GPS1,001231,4807.660,-12222.830,14,1.6,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.8
$GPS2,002207,4807.666,-12222.896,10,1.9,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,-0.196
$KALMAN_X,-321.2,-242.0,-188.8,308.3,-104.9
$KALMAN_Y,-875.8,-308.5,-331.1,-905.0,-299.7
$MHEAD_RNG_PITCHd_Wd,120.6,3279,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.88,-146.6,0.0,0.0,0,99,0.00,0.00,-83.75,0.000,2,0.000,0.000,113,2321,2727
$GC,102,-0.88,-146.6,3.1,-3.1,15,154,9.77,2.25,-34.78,0.000,4,0.259,0.064,2430,920,3890
$GC,270,-0.88,-146.6,25.6,-19.4,50,276,0.00,2.25,0.00,0.000,6,0.000,0.055,2430,2332,3892
$GC,343,-0.88,-146.6,40.7,-21.0,66,349,0.00,2.22,0.00,0.000,4,0.000,0.065,2426,3735,3893
$GC,377,-0.88,-146.6,48.6,-23.0,73,383,0.00,2.17,0.00,0.000,6,0.000,0.041,2426,2323,3893
$GC,518,-0.88,-146.6,79.1,-21.9,104,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2322,3894
$STATE,640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,643,-0.20,0.0,105.2,21.6,130,755,0.73,0.00,106.93,0.596,6,0.162,0.000,2644,2322,3290
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,757,0.88,146.6,112.7,0.0,150,874,1.10,2.33,108.20,0.573,4,0.113,0.054,2997,915,2692
$GC,910,0.88,146.6,104.5,11.3,179,916,0.00,2.33,0.00,0.000,6,0.000,0.052,2997,2325,2690
$GC,1052,0.88,146.6,86.2,12.9,210,1058,0.00,2.28,0.00,0.000,4,0.000,0.054,2997,907,2690
$GC,1096,0.88,146.6,80.9,12.6,219,1102,0.00,2.28,0.00,0.000,6,0.000,0.051,2996,2326,2689
$GC,1238,0.88,146.6,63.2,12.3,250,1244,0.00,2.25,0.00,0.000,4,0.000,0.054,2997,909,2689
$GC,1299,0.88,146.6,55.8,11.4,263,1305,0.00,2.28,0.00,0.000,6,0.000,0.052,2997,2335,2689
$GC,1443,0.88,146.6,38.8,11.9,294,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2335,2689
$GC,1514,0.88,146.6,31.1,10.3,310,1520,0.00,2.22,0.00,0.000,4,0.000,0.064,2997,3735,2689
$GC,1530,0.88,146.6,29.2,10.7,313,1536,0.00,2.20,0.00,0.000,6,0.000,0.048,2997,2316,2689
$GC,1601,0.88,146.6,21.3,11.1,329,1607,0.00,2.22,0.00,0.000,4,0.000,0.058,2997,904,2689
$GC,1631,0.88,146.6,18.2,10.5,335,1637,0.00,2.25,0.00,0.000,6,0.000,0.053,2997,2328,2689
$GC,1703,0.91,168.5,11.5,9.0,351,1727,0.00,2.28,16.73,0.540,4,0.000,0.055,2997,904,2604
$GC,1766,0.96,216.1,6.4,7.8,364,1797,0.00,2.25,25.38,0.535,2,0.000,0.052,2997,2321,2466
$STATE,1797,end climb,SURFACE_DEPTH_REACHED
$STATE,1798,begin surface coast
$FINISH,4.2,1.018143
$STATE,1855,end surface coast,CONTROL_FINISHED_OK
$STATE,1855,begin surface
$SM_CCo,1869,323.38,0.513,0,0,436,700.07
$SM_GC,1.60,0.00,0.00,323.38,0.000,0.000,0.513,109,2322,436,-8.16,-0.06,700.07
$IRIDIUM_FIX,4751.72,-12223.57,140898,000007
$TT8_MAMPS,0.026845
$HUMID,1802
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.00
$XPDR_PINGS,3
$24V_AH,24.7,0.917
$10V_AH,10.6,0.836
$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,20.050,36.050,257.225,323.375,0.000,0.000,0.000,0.000,3.750,0.000,0.000,15.516,563.594,372.080,663.259,632.128,34.476,32.329,1038.360,0.000,610.825,0.000,19.192,0.000
$DEVICE_MAMPS,259.246,65.195,595.959,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.779,438.463,381.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25509,382
$CAP_FILE_SIZE,58889,0
$CFSIZE,260165632,258666496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200509,010019,4807.455,-12222.907,8,1.1,13,18.3