version: 66.04
glider: 503
mission: 3
dive: 18
start: 9 17 109 8 57 55
data:
$ID,503
$MISSION,3
$DIVE,18
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,600
$USE_BATHY,0
$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,51681
$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,425
$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,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7587.4268
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,3343
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2800
$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,2
$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,-51.755669
$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,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,3
$XPDR_VALID,1
$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,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,085052,4806.869,-12222.858,6,4.2,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-82.5
$GPS2,085716,4806.847,-12222.837,9,3.2,28,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.193
$KALMAN_X,-1046.9,-116.7,109.0,334.6,244.4
$KALMAN_Y,-359.3,-91.6,-85.5,722.8,-614.9
$MHEAD_RNG_PITCHd_Wd,315.3,2575,-9.9,-6.024
$D_GRID,150
$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,11,-0.45,-146.6,0.0,0.0,0,69,0.00,0.00,-56.12,0.000,2,0.000,0.000,200,2205,2624
$GC,70,-0.45,-146.6,3.2,-4.9,10,106,11.93,2.25,-17.33,0.000,4,0.240,0.061,3185,3613,3398
$GC,162,-0.45,-146.6,12.4,-8.5,29,168,0.00,2.22,0.00,0.000,6,0.000,0.034,3185,2204,3399
$GC,232,-0.45,-146.6,18.9,-9.3,45,238,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2203,3399
$GC,302,-0.45,-146.6,25.3,-9.3,61,308,0.00,2.25,0.00,0.000,4,0.000,0.046,3177,3602,3399
$GC,342,-0.45,-146.6,29.3,-10.0,70,348,0.00,2.17,0.00,0.000,6,0.000,0.034,3177,2193,3399
$GC,412,-0.45,-146.6,36.2,-9.9,86,418,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2192,3399
$GC,482,-0.45,-146.6,43.3,-9.9,102,487,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2192,3400
$GC,617,-0.45,-146.6,56.7,-9.8,133,622,0.00,2.22,0.00,0.000,4,0.000,0.047,3167,3604,3400
$GC,673,-0.45,-146.6,62.6,-10.5,146,680,0.00,2.20,0.00,0.000,6,0.000,0.033,3167,2192,3400
$GC,809,-0.45,-146.6,76.6,-10.2,177,814,0.10,0.00,0.00,0.000,6,0.133,0.000,3196,2190,3400
$GC,945,-0.45,-146.6,87.8,-8.2,208,951,0.00,2.22,0.00,0.000,4,0.000,0.048,3188,3609,3400
$GC,1019,-0.45,-146.6,94.0,-8.3,225,1025,0.00,2.17,0.00,0.000,6,0.000,0.035,3187,2202,3399
$GC,1155,-0.45,-146.6,105.4,-8.3,256,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2201,3399
$STATE,1276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1276,begin apogee
$GC,1279,-0.14,0.0,115.6,8.3,284,1390,0.30,0.00,106.12,0.604,6,0.105,0.000,3293,2134,2799
$STATE,1391,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1392,0.45,146.6,118.5,0.0,304,1510,0.55,2.25,110.38,0.574,4,0.082,0.040,3501,745,2202
$GC,1539,0.45,146.6,107.9,10.3,332,1546,0.00,2.28,0.00,0.000,6,0.000,0.036,3501,2148,2202
$GC,1676,0.45,146.6,92.8,11.1,363,1681,0.00,2.25,0.00,0.000,4,0.000,0.044,3501,3561,2200
$GC,1728,0.45,146.6,86.1,12.6,375,1734,0.00,2.22,0.00,0.000,6,0.000,0.035,3512,2165,2200
$GC,1864,0.45,146.6,69.9,11.6,406,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2163,2199
$GC,1998,0.45,146.6,54.1,11.7,437,2004,0.00,2.25,0.00,0.000,4,0.000,0.045,3512,3563,2200
$GC,2034,0.45,146.6,49.8,12.2,445,2040,0.10,2.22,0.00,0.000,6,0.143,0.037,3489,2153,2199
$GC,2170,0.45,146.6,36.5,9.2,476,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2152,2199
$GC,2239,0.45,146.6,30.6,8.5,492,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2152,2199
$GC,2309,0.45,146.6,24.8,8.4,508,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2151,2199
$GC,2378,0.45,146.6,19.0,8.3,524,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2152,2198
$GC,2448,0.45,146.6,13.3,8.1,540,2454,0.00,2.25,0.00,0.000,4,0.000,0.047,3489,3560,2198
$GC,2488,0.45,146.6,9.5,9.3,549,2494,0.00,2.20,0.00,0.000,6,0.000,0.035,3499,2149,2198
$GC,2558,0.45,146.6,4.2,7.4,565,2564,0.00,2.22,0.00,0.000,4,0.000,0.045,3499,3570,2198
$STATE,2567,end climb,SURFACE_DEPTH_REACHED
$STATE,2567,begin surface coast
$FINISH,3.8,1.019692
$STATE,2636,end surface coast,CONTROL_FINISHED_OK
$STATE,2636,begin surface
$SM_CCo,2651,128.48,0.528,0,0,1067,425.10
$SM_GC,0.82,0.00,0.00,128.48,0.000,0.000,0.528,197,2184,1067,-9.84,-0.45,425.10
$IRIDIUM_FIX,4751.72,-12226.29,121298,080832
$TT8_MAMPS,0.051389
$HUMID,2105
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,45.1
$24V_AH,24.6,4.640
$10V_AH,10.6,4.207
$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,21.625,40.075,216.500,128.475,0.000,26.444,24.260,242.496,0.500,0.000,0.000,31.660,0.000,1192.540,454.195,1140.065,372.015,33.300,933.642,0.000,913.896,0.000,5.519,0.000
$DEVICE_MAMPS,240.071,96.642,603.629,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,391.949,641.464,562.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41217,583
$CAP_FILE_SIZE,59107,0
$CFSIZE,260165632,255995904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170909,094504,4807.135,-12223.120,11,2.5,30,18.3