version: 66.04
glider: 505
mission: 2
dive: 6
start: 5 21 109 3 3 4
data:
$ID,505
$MISSION,2
$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,51510
$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,-4662.0811
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2712
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2146
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3963
$C_VBD,3525
$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,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.502724
$PRESSURE_SLOPE,0.00011485742
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.1600001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0042812955
$SEABIRD_T_H,0.00061992655
$SEABIRD_T_I,2.2443779e-05
$SEABIRD_T_J,2.3337107e-06
$SEABIRD_C_G,-9.9470167
$SEABIRD_C_H,1.1498449
$SEABIRD_C_I,9.315474e-05
$SEABIRD_C_J,0.00010132478
$GPS1,025737,4804.988,-12221.033,33,1.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.4
$GPS2,030208,4804.917,-12220.987,11,1.3,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.215
$KALMAN_X,137.8,41.6,5.7,1057.8,49.0
$KALMAN_Y,-215.5,-127.7,-45.7,-2104.9,-39.7
$MHEAD_RNG_PITCHd_Wd,307.6,2365,-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,-0.74,-146.6,0.0,0.0,0,119,0.00,0.00,-102.90,0.000,2,0.000,0.000,108,2146,3559
$GC,121,-0.74,-146.6,3.2,-2.2,14,153,10.77,0.00,-13.32,0.000,6,0.295,0.000,2461,2146,3964
$GC,233,-0.74,-146.6,5.0,-2.7,33,241,0.00,2.30,0.00,0.000,4,0.000,0.057,2461,3558,3966
$GC,420,-0.74,-146.6,17.9,-9.8,68,428,0.00,2.20,0.00,0.000,6,0.000,0.036,2461,2134,3967
$GC,509,-0.74,-146.6,26.5,-9.8,84,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2133,3967
$GC,596,-0.74,-146.6,36.0,-11.0,100,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2133,3968
$GC,678,-0.74,-146.6,45.3,-10.9,116,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2133,3967
$GC,835,-0.74,-146.6,62.1,-11.0,147,841,0.00,2.28,0.00,0.000,4,0.000,0.058,2461,3566,3968
$GC,897,-0.74,-146.6,69.1,-11.3,159,903,0.00,2.15,0.00,0.000,6,0.000,0.036,2461,2143,3967
$GC,1054,-0.74,-146.6,85.8,-10.8,190,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2143,3968
$GC,1210,-0.74,-146.6,101.9,-10.6,221,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2143,3967
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1274,-0.16,0.0,108.3,10.2,233,1358,0.65,0.00,80.03,0.631,6,0.202,0.000,2649,2141,3524
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1361,0.74,146.6,111.1,0.0,246,1476,0.93,0.00,109.62,0.601,6,0.143,0.000,2941,2141,2926
$GC,1623,0.74,146.6,80.0,14.3,294,1631,0.00,2.33,0.00,0.000,4,0.000,0.057,2941,3550,2925
$GC,1636,0.74,146.6,78.0,14.5,296,1644,0.00,2.22,0.00,0.000,6,0.000,0.038,2940,2150,2925
$GC,1794,0.74,146.6,55.6,14.2,327,1800,0.00,2.28,0.00,0.000,4,0.000,0.057,2941,3559,2925
$GC,1837,0.74,146.6,48.8,16.3,335,1843,0.00,2.20,0.00,0.000,6,0.000,0.039,2941,2140,2925
$GC,1999,0.74,146.6,26.9,12.9,366,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2139,2925
$GC,2086,0.74,146.6,15.7,12.5,382,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2139,2925
$GC,2173,0.74,146.6,5.3,11.1,398,2181,0.00,2.28,0.00,0.000,4,0.000,0.057,2941,3546,2925
$STATE,2187,end climb,SURFACE_DEPTH_REACHED
$STATE,2187,begin surface coast
$FINISH,2.8,1.015886
$STATE,2235,end surface coast,CONTROL_FINISHED_OK
$STATE,2235,begin surface
$SM_CCo,2253,306.15,0.539,0,0,670,700.07
$SM_GC,1.67,0.00,0.00,306.15,0.000,0.000,0.539,108,2135,670,-8.14,-0.34,700.07
$IRIDIUM_FIX,4748.51,-12217.40,150898,020209
$TT8_MAMPS,0.029146
$HUMID,2089
$INTERNAL_PRESSURE,8.95371
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,45.2
$24V_AH,24.5,1.049
$10V_AH,10.7,0.621
$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,20.350,22.425,189.650,306.150,0.000,31.172,31.462,134.313,0.500,0.000,0.000,11.375,626.028,164.946,553.234,1238.792,269.417,33.320,1001.600,0.000,656.775,0.000,5.528,0.000
$DEVICE_MAMPS,294.528,58.292,631.241,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,278.084,1043.536,410.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19042,409
$CAP_FILE_SIZE,42497,0
$CFSIZE,260165632,259178496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,034626,4804.990,-12221.132,9,1.8,9,18.3