version: 66.04
glider: 505
mission: 2
dive: 4
start: 5 21 109 1 32 13
data:
$ID,505
$MISSION,2
$DIVE,4
$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,-4634.1997
$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,34
$R_STBD_OVSHOOT,30
$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,6
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,012126,4805.594,-12221.404,14,1.0,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.7
$GPS2,013119,4805.518,-12221.367,10,1.8,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.235
$KALMAN_X,29.1,11.3,5.2,726.7,7.1
$KALMAN_Y,-74.0,-63.1,-56.8,-1189.7,-19.2
$MHEAD_RNG_PITCHd_Wd,136.1,1062,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.74,-146.6,0.0,0.0,0,112,0.00,0.00,-95.57,0.000,2,0.000,0.000,107,2158,3354
$GC,115,-0.74,-146.6,3.0,-2.3,13,154,11.18,2.25,-20.00,0.000,4,0.305,0.057,2464,734,3965
$GC,162,-0.74,-146.6,3.8,-1.0,19,170,0.00,2.25,0.00,0.000,6,0.000,0.044,2463,2143,3965
$GC,250,-0.74,-146.6,6.4,-3.2,35,258,0.00,2.28,0.00,0.000,4,0.000,0.058,2464,3554,3967
$GC,265,-0.74,-146.6,6.9,-3.7,37,273,0.00,2.17,0.00,0.000,6,0.000,0.034,2464,2136,3967
$GC,354,-0.74,-146.6,11.2,-6.1,53,362,0.00,2.17,0.00,0.000,4,0.000,0.042,2464,741,3967
$GC,659,-0.74,-146.6,42.4,-11.1,111,665,0.00,2.20,0.00,0.000,6,0.000,0.045,2463,2155,3967
$GC,812,-0.74,-146.6,59.1,-11.0,142,820,0.00,2.20,0.00,0.000,4,0.000,0.044,2464,744,3967
$GC,844,-0.74,-146.6,62.6,-10.8,148,852,0.00,2.20,0.00,0.000,6,0.000,0.045,2464,2142,3967
$GC,1001,-0.74,-146.6,79.5,-10.7,179,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2142,3967
$GC,1153,-0.74,-146.6,95.5,-10.3,210,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2142,3967
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1302,-0.16,0.0,110.3,10.0,239,1386,0.65,0.00,79.85,0.633,6,0.204,0.000,2650,2141,3524
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1389,0.74,146.6,113.0,0.0,252,1504,0.93,0.00,109.55,0.606,6,0.144,0.000,2940,2142,2927
$GC,1651,0.74,146.6,81.8,14.2,300,1659,0.00,2.33,0.00,0.000,4,0.000,0.058,2940,3558,2925
$GC,1684,0.74,146.6,76.5,15.9,306,1692,0.00,2.22,0.00,0.000,6,0.000,0.038,2941,2152,2925
$GC,1841,0.74,146.6,54.6,13.6,337,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2152,2925
$GC,1999,0.74,146.6,32.6,13.8,368,2006,0.00,2.28,0.00,0.000,4,0.000,0.058,2941,3554,2925
$GC,2045,0.74,146.6,25.5,15.2,376,2053,0.00,2.20,0.00,0.000,6,0.000,0.039,2944,2144,2925
$GC,2133,0.74,146.6,13.6,12.8,392,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2143,2925
$STATE,2213,end climb,SURFACE_DEPTH_REACHED
$STATE,2213,begin surface coast
$FINISH,3.1,1.019280
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2277,308.12,0.528,8,0,671,700.07
$SM_GC,1.37,0.00,0.00,308.12,0.000,0.000,0.528,107,2141,671,-8.14,-0.14,700.07
$IRIDIUM_FIX,4748.51,-12224.57,150898,010139
$TT8_MAMPS,0.029146
$HUMID,2080
$INTERNAL_PRESSURE,8.97324
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,24.6,0.864
$10V_AH,10.7,0.531
$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,20.750,26.750,189.400,308.125,0.000,56.128,61.032,315.954,0.000,0.000,0.000,15.594,636.921,237.290,590.125,1251.118,521.408,32.329,1043.087,0.000,666.608,0.000,0.530,0.000
$DEVICE_MAMPS,305.266,57.525,632.775,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,283.021,1047.037,411.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19098,416
$CAP_FILE_SIZE,49067,0
$CFSIZE,260165632,259227648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,210509,021704,4805.255,-12221.129,12,3.1,31,18.3