version: 66.04
glider: 503
mission: 2
dive: 16
start: 5 21 109 10 47 22
data:
$ID,503
$MISSION,2
$DIVE,16
$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,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,51629
$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,-2490.5024
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2844
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$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,2393
$C_ROLL_CLIMB,2393
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,466
$VBD_MAX,3969
$C_VBD,3660
$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,-51.611187
$PRESSURE_SLOPE,0.00011732637
$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
$DEVICE3,83
$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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-0.10162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,103838,4805.562,-12221.785,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.6
$GPS2,104643,4805.525,-12221.760,10,1.7,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.062,0.252
$KALMAN_X,900.7,128.0,43.1,-725.6,-11.4
$KALMAN_Y,-4166.4,-501.0,-91.5,3262.4,-117.1
$MHEAD_RNG_PITCHd_Wd,327.9,928,-17.5,-10.000
$D_GRID,110
$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,-0.65,-146.6,0.0,0.0,0,125,0.00,0.00,-112.10,0.000,2,0.000,0.000,201,2396,3910
$GC,127,-0.65,-146.6,3.0,-2.7,20,140,9.65,0.00,-1.80,0.000,6,0.245,0.000,2628,2396,3972
$GC,204,-0.65,-146.6,9.2,-5.2,37,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2397,3975
$GC,273,-0.65,-146.6,12.2,-3.9,53,279,0.00,2.17,0.00,0.000,4,0.000,0.055,2620,3763,3976
$GC,352,-0.65,-146.6,16.6,-6.7,71,358,0.00,2.15,0.00,0.000,6,0.000,0.037,2620,2397,3975
$GC,422,-0.65,-146.6,22.0,-7.9,87,428,0.00,2.22,0.00,0.000,4,0.000,0.044,2620,987,3975
$GC,467,-0.65,-146.6,25.8,-8.4,97,473,0.00,2.25,0.00,0.000,6,0.000,0.048,2617,2386,3975
$GC,537,-0.65,-146.6,32.1,-9.0,113,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2387,3975
$GC,607,-0.65,-146.6,38.5,-9.5,129,613,0.00,2.17,0.00,0.000,4,0.000,0.042,2617,980,3976
$GC,664,-0.65,-146.6,44.2,-10.0,142,670,0.00,2.25,0.00,0.000,6,0.000,0.047,2617,2388,3976
$GC,800,-0.65,-146.6,56.8,-9.1,173,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2388,3976
$GC,935,-0.65,-146.6,68.7,-8.3,204,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2388,3976
$GC,1070,-0.65,-146.6,80.5,-8.4,235,1075,0.00,2.20,0.00,0.000,4,0.000,0.043,2617,973,3976
$GC,1119,-0.65,-146.6,85.1,-9.4,246,1124,0.00,2.22,0.00,0.000,6,0.000,0.048,2617,2396,3976
$GC,1254,-0.65,-146.6,96.7,-8.2,277,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2397,3976
$GC,1389,-0.65,-146.6,107.8,-7.9,308,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2397,3976
$STATE,1418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1419,begin apogee
$GC,1421,-0.14,0.0,110.4,8.4,315,1482,0.52,0.00,56.95,0.606,6,0.133,0.000,2791,2397,3659
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1484,0.65,146.6,111.1,0.0,326,1600,0.70,2.33,108.22,0.587,4,0.075,0.048,3063,983,3061
$GC,1621,0.65,146.6,94.7,18.3,352,1627,0.00,2.35,0.00,0.000,6,0.000,0.047,3062,2388,3059
$GC,1757,0.65,146.6,68.2,19.0,383,1763,0.00,2.28,0.00,0.000,4,0.000,0.048,3070,976,3059
$GC,1814,0.65,146.6,57.3,18.8,396,1820,0.00,2.33,0.00,0.000,6,0.000,0.047,3070,2400,3059
$GC,1950,0.65,146.6,32.7,17.5,427,1955,0.00,2.25,0.00,0.000,4,0.000,0.048,3080,981,3058
$GC,1972,0.65,146.6,28.6,18.0,432,1978,0.00,2.28,0.00,0.000,6,0.000,0.048,3080,2386,3058
$GC,2042,0.65,146.6,15.6,18.8,448,2049,0.00,2.25,0.00,0.000,4,0.000,0.046,3091,980,3058
$GC,2074,0.65,146.6,10.0,17.8,455,2080,0.08,2.28,0.00,0.000,6,0.154,0.048,3053,2388,3058
$STATE,2113,end climb,SURFACE_DEPTH_REACHED
$STATE,2113,begin surface coast
$FINISH,2.6,1.028110
$STATE,2152,end surface coast,CONTROL_FINISHED_OK
$STATE,2152,begin surface
$SM_CCo,2165,263.20,0.517,0,0,806,700.07
$SM_GC,1.30,0.00,0.00,263.20,0.000,0.000,0.517,198,2389,806,-8.27,-0.11,700.07
$IRIDIUM_FIX,4748.51,-12224.57,150898,101033
$TT8_MAMPS,0.051389
$HUMID,1921
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,24.3,1.953
$10V_AH,10.6,1.440
$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,18.825,35.975,165.175,263.200,0.000,53.815,66.385,233.387,3.250,0.000,0.000,17.009,0.000,998.638,557.031,937.991,418.115,33.328,961.033,0.000,745.527,0.000,21.142,0.000
$DEVICE_MAMPS,245.440,55.224,605.930,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,319.762,539.104,468.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28708,473
$CAP_FILE_SIZE,55884,0
$CFSIZE,260165632,258256896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,112836,4805.688,-12221.829,12,0.9,28,18.3