version: 66.04
glider: 500
mission: 1
dive: 15
start: 5 20 109 13 19 10
data:
$ID,500
$MISSION,1
$DIVE,15
$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,51563.898
$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,715.52844
$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,-3004.6711
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$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,213
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,1878
$C_ROLL_CLIMB,1878
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3392
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,400
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-65.923767
$PRESSURE_SLOPE,0.00011603366
$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,10
$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,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,130431,4807.316,-12223.578,6,1.4,11,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.1
$GPS2,131831,4807.455,-12223.766,13,1.8,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,0.256
$KALMAN_X,-636.5,-106.8,-111.4,-634.8,-55.8
$KALMAN_Y,-2520.9,-10.7,50.4,-154.5,3.6
$MHEAD_RNG_PITCHd_Wd,331.1,1051,-17.5,-10.000
$D_GRID,103
$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,-0.88,-146.6,0.0,0.0,0,118,0.00,0.00,-104.82,0.000,2,0.000,0.000,156,1870,3397
$GC,119,-0.88,-146.6,3.0,-2.9,20,152,9.52,2.25,-15.88,0.000,4,0.272,0.083,2427,3286,3945
$GC,399,-0.88,-146.6,28.3,-8.8,83,405,0.00,2.15,0.00,0.000,6,0.000,0.054,2427,1878,3946
$GC,469,-0.88,-146.6,34.1,-9.1,99,475,0.00,2.20,0.00,0.000,4,0.000,0.067,2427,3283,3946
$GC,721,-0.88,-146.6,63.2,-11.8,157,727,0.00,2.15,0.00,0.000,6,0.000,0.054,2427,1873,3945
$GC,857,-0.88,-146.6,78.8,-11.9,188,863,0.00,2.20,0.00,0.000,4,0.000,0.067,2427,3286,3945
$GC,892,-0.88,-146.6,82.8,-11.5,196,898,0.00,2.15,0.00,0.000,6,0.000,0.054,2427,1871,3945
$GC,1028,-0.88,-146.6,97.9,-10.9,227,1033,0.00,2.17,0.00,0.000,4,0.000,0.068,2427,3290,3946
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1079,-0.20,0.0,103.1,10.6,238,1185,0.70,0.00,101.50,0.677,6,0.160,0.000,2647,1872,3392
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1187,0.88,146.6,106.1,0.0,258,1303,1.08,0.00,112.22,0.650,6,0.119,0.000,2996,1872,2793
$GC,1433,0.88,146.6,81.4,12.4,310,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1872,2792
$GC,1567,0.88,146.6,65.1,11.9,341,1573,0.00,2.25,0.00,0.000,4,0.000,0.068,2996,3284,2792
$GC,1624,0.88,146.6,57.9,12.8,354,1630,0.00,2.20,0.00,0.000,6,0.000,0.059,3003,1879,2792
$GC,1760,0.88,146.6,41.7,11.7,385,1765,0.00,2.20,0.00,0.000,4,0.000,0.073,3012,465,2792
$GC,1782,0.88,146.6,39.0,12.3,390,1788,0.00,2.17,0.00,0.000,6,0.000,0.058,3012,1875,2792
$GC,1852,0.88,146.6,30.8,11.5,406,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1875,2792
$GC,1921,0.88,146.6,22.9,11.7,422,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1875,2792
$GC,1990,0.88,146.6,15.1,10.6,438,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1875,2791
$GC,2059,0.90,165.1,7.9,9.1,454,2081,0.00,2.28,14.45,0.600,4,0.000,0.074,3012,463,2718
$GC,2249,1.17,383.0,5.8,-0.0,497,2419,0.20,2.17,161.23,0.607,6,0.071,0.058,3100,1878,1829
$GC,2483,1.50,650.8,5.1,-2.3,544,2548,0.30,0.00,62.85,0.587,2,0.078,0.000,3212,1878,1495
$STATE,2549,end climb,SURFACE_DEPTH_REACHED
$STATE,2549,begin surface coast
$FINISH,3.3,1.012328
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2668,206.18,0.565,6,0,474,715.53
$SM_GC,1.86,0.00,0.00,206.18,0.000,0.000,0.565,152,1878,474,-8.02,0.00,715.53
$IRIDIUM_FIX,4801.38,-11822.66,140898,131345
$TT8_MAMPS,0.050622
$HUMID,1805
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.1,2.618
$10V_AH,10.6,0.832
$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,20.500,30.700,452.250,206.175,0.000,142.246,375.794,0.000,0.750,0.000,0.000,32.674,0.000,1393.137,735.063,1048.220,569.830,33.307,1238.868,0.000,847.401,0.000,5.592,0.000
$DEVICE_MAMPS,271.518,82.836,677.261,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15855,581
$CAP_FILE_SIZE,49972,0
$CFSIZE,260165632,258879488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,200509,140831,4807.602,-12223.684,39,1.4,39,18.3