version: 66.04
glider: 503
mission: 3
dive: 21
start: 9 17 109 11 46 4
data:
$ID,503
$MISSION,3
$DIVE,21
$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,-7650.2061
$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,37
$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
$GPS1,113604,4807.664,-12223.463,8,2.2,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-82.0
$GPS2,114525,4807.655,-12223.450,9,1.3,14,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.209
$KALMAN_X,-1317.9,433.0,174.6,-768.0,-68.9
$KALMAN_Y,-1099.7,-838.4,-80.0,3699.3,-724.5
$MHEAD_RNG_PITCHd_Wd,327.3,933,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.45,-146.6,0.0,0.0,0,75,0.00,0.00,-61.83,0.000,2,0.000,0.000,198,2214,2826
$GC,76,-0.45,-146.6,3.6,-5.4,11,107,11.98,2.30,-13.45,0.000,4,0.242,0.052,3189,776,3400
$GC,185,-0.45,-146.6,12.8,-8.4,34,190,0.00,2.22,0.00,0.000,6,0.000,0.040,3183,2202,3400
$GC,255,-0.45,-146.6,19.4,-9.6,50,261,0.00,2.22,0.00,0.000,4,0.000,0.046,3173,3615,3400
$GC,299,-0.45,-146.6,24.0,-10.4,60,305,0.00,2.22,0.00,0.000,6,0.000,0.034,3173,2200,3400
$GC,370,-0.45,-146.6,31.3,-10.2,76,375,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2199,3401
$GC,439,-0.45,-146.6,38.4,-10.2,92,445,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2199,3401
$GC,509,-0.45,-146.6,45.4,-10.2,108,515,0.00,2.25,0.00,0.000,4,0.000,0.046,3163,3604,3401
$GC,557,-0.45,-146.6,50.6,-10.9,119,564,0.08,2.20,0.00,0.000,6,0.118,0.033,3192,2199,3401
$GC,693,-0.45,-146.6,62.7,-8.7,150,699,0.00,2.22,0.00,0.000,4,0.000,0.047,3185,3613,3401
$GC,733,-0.45,-146.6,66.3,-9.1,159,739,0.00,2.20,0.00,0.000,6,0.000,0.034,3185,2199,3401
$GC,868,-0.45,-146.6,78.8,-9.3,190,874,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2198,3401
$GC,1004,-0.45,-146.6,91.1,-9.1,221,1009,0.00,2.22,0.00,0.000,4,0.000,0.046,3175,3617,3401
$GC,1082,-0.45,-146.6,98.6,-9.3,239,1088,0.00,2.20,0.00,0.000,6,0.000,0.034,3176,2200,3400
$GC,1218,-0.45,-146.6,111.3,-9.3,270,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2198,3400
$STATE,1260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1260,begin apogee
$GC,1263,-0.14,0.0,115.5,9.4,280,1375,0.35,0.00,106.45,0.603,6,0.106,0.000,3297,2130,2800
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1377,0.45,146.6,118.4,0.0,300,1494,0.52,2.22,109.72,0.573,4,0.079,0.041,3498,754,2202
$GC,1519,0.45,146.6,108.7,9.6,327,1525,0.00,2.25,0.00,0.000,6,0.000,0.036,3498,2160,2203
$GC,1655,0.45,146.6,94.0,10.9,358,1661,0.00,2.22,0.00,0.000,4,0.000,0.044,3498,3558,2202
$GC,1712,0.45,146.6,87.0,12.1,371,1718,0.00,2.22,0.00,0.000,6,0.000,0.036,3508,2166,2202
$GC,1848,0.45,146.6,71.3,11.5,402,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2165,2201
$GC,1982,0.45,146.6,55.8,11.5,433,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2165,2201
$GC,2117,0.45,146.6,40.8,10.8,464,2123,0.00,2.22,0.00,0.000,4,0.000,0.045,3508,3554,2201
$GC,2152,0.45,146.6,36.4,12.2,472,2159,0.08,2.22,0.00,0.000,6,0.140,0.037,3493,2142,2200
$GC,2223,0.45,146.6,29.3,9.3,488,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2142,2200
$GC,2293,0.45,146.6,22.8,9.2,504,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2141,2200
$GC,2363,0.45,146.6,16.5,8.9,520,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2142,2200
$GC,2432,0.45,146.6,10.9,8.1,536,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2141,2200
$GC,2502,0.45,146.6,5.4,7.8,552,2508,0.00,2.22,0.00,0.000,4,0.000,0.046,3492,3559,2200
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,3.5,1.019650
$STATE,2575,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2590,126.75,0.526,0,0,1067,425.10
$SM_GC,0.95,0.00,0.00,126.75,0.000,0.000,0.526,196,2193,1067,-9.84,-0.23,425.10
$IRIDIUM_FIX,4748.51,-12221.84,121298,111109
$TT8_MAMPS,0.051389
$HUMID,2089
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.3,35.1
$24V_AH,24.6,4.873
$10V_AH,10.6,4.366
$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,21.625,40.075,216.175,126.750,0.000,62.793,51.807,303.667,1.000,0.000,0.000,16.755,0.000,1218.192,451.661,1099.770,504.834,33.298,922.133,0.000,894.900,0.000,7.028,0.000
$DEVICE_MAMPS,241.605,93.574,602.862,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,382.295,624.325,545.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38075,569
$CAP_FILE_SIZE,61974,0
$CFSIZE,260165632,255873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,123150,4807.888,-12223.602,11,1.6,11,18.3