version: 66.04
glider: 501
mission: 2
dive: 15
start: 5 22 109 11 18 31
data:
$ID,501
$MISSION,2
$DIVE,15
$D_SURF,4
$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,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.699
$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,566.38849
$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,-5860.8613
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2664
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,33
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$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,-78.200256
$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,1
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.58
$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,0.0042778454
$SEABIRD_T_H,0.00061740389
$SEABIRD_T_I,2.0755566e-05
$SEABIRD_T_J,1.9309739e-06
$SEABIRD_C_G,-9.9587898
$SEABIRD_C_H,1.1116555
$SEABIRD_C_I,-0.00091855833
$SEABIRD_C_J,0.00016386856
$GPS1,105556,4805.106,-12221.032,14,1.8,14,18.3
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,3
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-77.6
$GPS2,111736,4805.121,-12220.972,12,1.2,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,0.216
$KALMAN_X,-256.3,-32.3,-5.9,1815.0,17.5
$KALMAN_Y,-1380.5,-175.1,-153.7,-1567.4,-89.6
$MHEAD_RNG_PITCHd_Wd,308.0,2066,-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,-0.76,-146.6,0.0,0.0,0,84,0.00,0.00,-68.05,0.000,2,0.000,0.000,106,2330,2328
$GC,86,-0.76,-146.6,3.1,-5.8,12,134,9.73,2.30,-31.55,0.000,4,0.255,0.070,2406,3735,3340
$GC,244,-0.76,-146.6,19.2,-10.5,45,250,0.00,2.15,0.00,0.000,6,0.000,0.035,2408,2320,3341
$GC,317,-0.76,-146.6,26.8,-11.1,58,323,0.00,2.25,0.00,0.000,4,0.000,0.057,2408,3736,3341
$GC,387,-0.76,-146.6,35.5,-12.7,73,393,0.00,2.15,0.00,0.000,6,0.000,0.035,2408,2317,3341
$GC,460,-0.76,-146.6,44.4,-12.5,86,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2316,3341
$GC,601,-0.76,-146.6,61.3,-12.0,111,607,0.00,2.25,0.00,0.000,4,0.000,0.058,2408,3737,3341
$GC,651,-0.76,-146.6,68.1,-12.8,122,657,0.00,2.15,0.00,0.000,6,0.000,0.035,2408,2312,3341
$GC,792,-0.76,-146.6,84.9,-12.0,147,798,0.00,2.25,0.00,0.000,4,0.000,0.058,2408,3736,3341
$GC,839,-0.76,-146.6,90.6,-11.7,157,845,0.00,2.12,0.00,0.000,6,0.000,0.035,2408,2325,3341
$GC,980,-0.76,-146.6,106.6,-11.2,182,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2323,3341
$STATE,995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,995,begin apogee
$GC,998,-0.33,0.0,108.4,11.4,185,1107,0.45,0.00,105.05,0.582,6,0.143,0.000,2548,2322,2741
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1109,0.76,146.6,112.5,0.0,204,1228,1.10,2.35,109.03,0.555,4,0.111,0.044,2902,909,2142
$GC,1260,0.76,146.6,94.0,16.5,232,1267,0.00,2.30,0.00,0.000,6,0.000,0.044,2902,2323,2139
$GC,1401,0.76,146.6,68.9,17.7,257,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2323,2138
$GC,1541,0.76,146.6,44.8,16.4,282,1547,0.00,2.22,0.00,0.000,4,0.000,0.043,2902,903,2136
$GC,1600,0.76,146.6,35.7,14.5,295,1606,0.00,2.25,0.00,0.000,6,0.000,0.044,2902,2333,2136
$GC,1673,0.76,146.6,24.0,16.4,308,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2333,2136
$GC,1745,0.76,146.6,12.5,15.9,321,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2334,2135
$STATE,1811,end climb,SURFACE_DEPTH_REACHED
$STATE,1811,begin surface coast
$FINISH,3.0,1.020283
$STATE,1851,end surface coast,CONTROL_FINISHED_OK
$STATE,1851,begin surface
$SM_CCo,1865,233.82,0.499,0,0,431,566.39
$SM_GC,1.51,0.00,0.00,233.82,0.000,0.000,0.499,111,2335,431,-7.98,0.34,566.39
$IRIDIUM_FIX,4745.30,-12222.84,160898,111131
$TT8_MAMPS,0.027612
$HUMID,1610
$INTERNAL_PRESSURE,8.96728
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,24.6,4.836
$10V_AH,10.6,2.643
$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,19.225,26.750,214.075,233.825,0.000,144.690,193.809,609.318,1.000,0.000,0.000,28.896,512.131,761.303,524.197,595.163,1023.889,33.348,864.828,0.000,561.035,0.000,5.633,0.000
$DEVICE_MAMPS,254.644,69.797,582.153,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.981,554.919,482.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19155,340
$CAP_FILE_SIZE,58956,0
$CFSIZE,260165632,258347008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,115434,4805.264,-12221.240,11,2.2,30,18.3