version: 66.04
glider: 505
mission: 2
dive: 7
start: 5 21 109 3 52 15
data:
$ID,505
$MISSION,2
$DIVE,7
$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,-4672.9458
$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,37
$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
$GPS1,034626,4804.990,-12221.132,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.7
$GPS2,035120,4804.916,-12221.068,10,1.7,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.227
$KALMAN_X,285.6,74.7,20.9,758.4,73.2
$KALMAN_Y,-571.3,-191.4,-48.5,-1679.9,-140.8
$MHEAD_RNG_PITCHd_Wd,312.5,2315,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-117.75,0.000,2,0.000,0.000,108,2135,3959
$GC,136,-0.74,-146.6,3.3,-2.3,16,152,11.12,0.00,-0.05,0.000,6,0.304,0.000,2463,2135,3964
$GC,233,-0.74,-146.6,8.1,-4.8,33,240,0.00,2.33,0.00,0.000,4,0.000,0.058,2463,3560,3966
$GC,415,-0.74,-146.6,21.7,-9.9,67,423,0.00,2.20,0.00,0.000,6,0.000,0.035,2463,2135,3967
$GC,503,-0.74,-146.6,30.4,-9.9,83,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2134,3967
$GC,590,-0.74,-146.6,39.9,-10.5,99,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2134,3967
$GC,673,-0.74,-146.6,48.9,-11.1,115,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2134,3967
$GC,826,-0.74,-146.6,65.5,-10.0,146,834,0.00,2.28,0.00,0.000,4,0.000,0.058,2463,3548,3967
$GC,904,-0.74,-146.6,74.2,-11.5,161,911,0.00,2.12,0.00,0.000,6,0.000,0.036,2463,2144,3967
$GC,1060,-0.74,-146.6,91.3,-10.7,192,1068,0.00,2.17,0.00,0.000,4,0.000,0.045,2463,743,3967
$GC,1120,-0.74,-146.6,97.5,-11.0,203,1126,0.00,2.20,0.00,0.000,6,0.000,0.046,2463,2157,3967
$STATE,1219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1219,begin apogee
$GC,1224,-0.16,0.0,108.0,10.6,223,1307,0.65,0.00,79.90,0.627,6,0.201,0.000,2650,2158,3525
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1310,0.74,146.6,110.8,0.0,236,1427,0.93,2.40,109.75,0.600,4,0.141,0.045,2943,741,2926
$GC,1435,0.74,146.6,99.6,12.6,255,1441,0.00,2.30,0.00,0.000,6,0.000,0.043,2943,2144,2925
$GC,1589,0.74,146.6,77.0,14.0,286,1597,0.00,2.33,0.00,0.000,4,0.000,0.058,2943,3554,2925
$GC,1609,0.74,146.6,74.2,14.8,289,1615,0.00,2.20,0.00,0.000,6,0.000,0.039,2944,2151,2925
$GC,1764,0.74,146.6,51.2,14.1,320,1771,0.00,2.30,0.00,0.000,4,0.000,0.057,2945,3555,2925
$GC,1793,0.74,146.6,46.8,15.1,325,1799,0.00,2.20,0.00,0.000,6,0.000,0.039,2945,2137,2925
$GC,1955,0.74,146.6,24.9,13.4,356,1963,0.00,2.30,0.00,0.000,4,0.000,0.057,2945,3554,2925
$GC,1981,0.74,146.6,21.1,13.7,360,1989,0.00,2.20,0.00,0.000,6,0.000,0.039,2951,2146,2925
$GC,2069,0.74,146.6,8.8,13.5,376,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2146,2925
$STATE,2108,end climb,SURFACE_DEPTH_REACHED
$STATE,2108,begin surface coast
$FINISH,3.2,1.016953
$STATE,2151,end surface coast,CONTROL_FINISHED_OK
$STATE,2151,begin surface
$SM_CCo,2166,326.45,0.538,0,0,670,700.07
$SM_GC,1.59,0.00,0.00,326.45,0.000,0.000,0.538,109,2141,670,-8.13,-0.14,700.07
$IRIDIUM_FIX,4745.30,-12222.84,150898,030338
$TT8_MAMPS,0.029146
$HUMID,2094
$INTERNAL_PRESSURE,8.95371
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,46.5
$24V_AH,24.5,1.143
$10V_AH,10.7,0.669
$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,20.700,31.525,189.650,326.450,0.000,26.202,34.895,156.355,0.500,0.000,0.000,10.237,602.206,159.134,575.822,1179.351,289.851,33.327,1015.794,0.000,624.626,0.000,5.529,0.000
$DEVICE_MAMPS,303.732,58.292,627.406,537.667,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,265.320,989.088,388.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19046,391
$CAP_FILE_SIZE,43799,0
$CFSIZE,260165632,259149824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210509,043432,4805.001,-12221.189,10,2.0,10,18.3