version: 66.04
glider: 503
mission: 2
dive: 6
start: 5 21 109 2 54 29
data:
$ID,503
$MISSION,2
$DIVE,6
$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,-2274.8428
$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,33
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,024832,4805.049,-12221.119,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.5
$GPS2,025350,4804.979,-12221.070,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.238
$KALMAN_X,-146.1,-63.7,-19.9,1430.9,-53.0
$KALMAN_Y,-518.2,-208.9,-115.9,-1668.8,-52.6
$MHEAD_RNG_PITCHd_Wd,317.8,2214,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.71,-146.6,0.0,0.0,0,115,0.00,0.00,-101.32,0.000,2,0.000,0.000,202,2402,3658
$GC,117,-0.71,-146.6,3.2,-2.7,18,140,9.45,0.00,-10.02,0.000,6,0.240,0.000,2612,2402,3971
$GC,204,-0.71,-146.6,4.7,-2.8,37,210,0.00,2.25,0.00,0.000,4,0.000,0.044,2612,989,3972
$GC,218,-0.71,-146.6,5.1,-2.6,40,224,0.00,2.28,0.00,0.000,6,0.000,0.048,2612,2397,3972
$GC,288,-0.71,-146.6,7.7,-4.7,56,294,0.00,2.20,0.00,0.000,4,0.000,0.054,2602,3758,3972
$GC,433,-0.71,-146.6,18.0,-8.9,89,439,0.00,2.10,0.00,0.000,6,0.000,0.036,2602,2389,3973
$GC,503,-0.71,-146.6,24.1,-9.0,105,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2388,3973
$GC,573,-0.71,-146.6,30.7,-10.0,121,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2388,3973
$GC,642,-0.71,-146.6,37.9,-9.7,137,648,0.00,2.20,0.00,0.000,4,0.000,0.044,2602,987,3973
$GC,690,-0.71,-146.6,43.2,-11.0,148,697,0.00,2.25,0.00,0.000,6,0.000,0.048,2596,2393,3973
$GC,827,-0.71,-146.6,57.3,-9.9,179,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2394,3973
$GC,961,-0.71,-146.6,71.3,-10.4,210,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2394,3973
$GC,1097,-0.71,-146.6,85.6,-10.4,241,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2394,3973
$GC,1232,-0.71,-146.6,99.2,-9.8,272,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2394,3973
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1325,-0.15,0.0,108.1,9.9,293,1385,0.57,0.00,56.42,0.604,6,0.140,0.000,2784,2394,3659
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1387,0.71,146.6,109.4,0.0,304,1502,0.77,0.00,108.00,0.588,6,0.080,0.000,3069,2394,3061
$GC,1632,0.71,146.6,71.7,19.8,355,1638,0.00,2.28,0.00,0.000,4,0.000,0.047,3080,994,3059
$GC,1676,0.71,146.6,63.3,18.9,365,1682,0.00,2.28,0.00,0.000,6,0.000,0.048,3080,2388,3059
$GC,1812,0.71,146.6,36.7,19.4,396,1818,0.00,2.22,0.00,0.000,4,0.000,0.047,3090,975,3059
$GC,1860,0.71,146.6,27.6,18.8,407,1866,0.00,2.30,0.00,0.000,6,0.000,0.048,3091,2396,3058
$GC,1931,0.71,146.6,13.7,18.8,423,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2396,3059
$STATE,1981,end climb,SURFACE_DEPTH_REACHED
$STATE,1981,begin surface coast
$FINISH,1.6,1.020253
$STATE,2003,end surface coast,CONTROL_FINISHED_OK
$STATE,2004,begin surface
$SM_CCo,2015,263.98,0.517,0,0,805,700.07
$SM_GC,1.25,0.00,0.00,263.98,0.000,0.000,0.517,199,2399,805,-8.27,0.17,700.07
$IRIDIUM_FIX,4745.30,-12208.51,150898,020200
$TT8_MAMPS,0.051389
$HUMID,1957
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,24.4,1.092
$10V_AH,10.6,0.985
$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,18.450,22.350,164.425,263.975,0.000,26.153,26.310,196.615,3.000,0.000,0.000,14.627,0.000,870.967,541.408,868.315,315.820,33.311,917.080,0.000,697.678,0.000,19.333,0.000
$DEVICE_MAMPS,240.071,53.690,604.396,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,297.381,517.469,447.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28663,440
$CAP_FILE_SIZE,47752,0
$CFSIZE,260165632,258600960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,033313,4805.073,-12221.145,10,1.6,27,18.3