version: 66.04
glider: 503
mission: 3
dive: 22
start: 9 17 109 12 38 34
data:
$ID,503
$MISSION,3
$DIVE,22
$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,-7668.083
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,123150,4807.888,-12223.602,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-82.7
$GPS2,123755,4807.884,-12223.600,15,1.6,15,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,0.212
$KALMAN_X,-1114.2,515.4,-20.0,-1044.6,39.5
$KALMAN_Y,-1610.8,-1006.2,-9.0,4732.3,-982.1
$MHEAD_RNG_PITCHd_Wd,330.7,540,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-62.70,0.000,2,0.000,0.000,196,2193,2874
$GC,77,-0.45,-146.6,3.7,-5.5,11,107,11.95,2.20,-12.00,0.000,4,0.240,0.052,3192,779,3398
$GC,158,-0.45,-146.6,11.7,-8.8,28,165,0.00,2.25,0.00,0.000,6,0.000,0.040,3185,2192,3398
$GC,229,-0.45,-146.6,18.3,-10.1,44,234,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2192,3398
$GC,298,-0.45,-146.6,25.4,-9.8,60,304,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2192,3399
$GC,368,-0.45,-146.6,31.9,-9.4,76,374,0.00,2.28,0.00,0.000,4,0.000,0.046,3174,3616,3398
$GC,408,-0.45,-146.6,35.9,-9.9,85,414,0.00,2.22,0.00,0.000,6,0.000,0.034,3175,2199,3399
$GC,478,-0.45,-146.6,43.1,-10.1,101,484,0.00,2.28,0.00,0.000,4,0.000,0.047,3165,3617,3399
$GC,514,-0.45,-146.6,47.0,-10.8,109,520,0.08,2.22,0.00,0.000,6,0.117,0.034,3193,2200,3398
$GC,650,-0.45,-146.6,59.3,-9.0,140,656,0.00,2.25,0.00,0.000,4,0.000,0.047,3185,3612,3398
$GC,690,-0.45,-146.6,63.0,-9.1,149,696,0.00,2.20,0.00,0.000,6,0.000,0.034,3185,2201,3398
$GC,825,-0.45,-146.6,75.6,-9.6,180,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2199,3398
$GC,961,-0.45,-146.6,87.9,-9.0,211,966,0.00,2.22,0.00,0.000,4,0.000,0.046,3176,3617,3398
$GC,1039,-0.45,-146.6,95.0,-8.9,229,1045,0.00,2.20,0.00,0.000,6,0.000,0.034,3176,2202,3398
$GC,1175,-0.45,-146.6,107.4,-9.1,260,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2200,3398
$STATE,1200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1200,begin apogee
$GC,1203,-0.14,0.0,109.8,9.0,266,1315,0.32,0.00,105.90,0.600,6,0.107,0.000,3290,2133,2799
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1317,0.45,146.6,113.0,0.0,286,1434,0.55,2.25,109.57,0.571,4,0.084,0.041,3497,748,2203
$GC,1463,0.45,146.6,102.9,9.7,314,1469,0.00,2.28,0.00,0.000,6,0.000,0.036,3497,2150,2204
$GC,1600,0.45,146.6,88.1,10.9,345,1605,0.00,2.25,0.00,0.000,4,0.000,0.044,3497,3560,2203
$GC,1647,0.45,146.6,82.0,12.6,356,1654,0.00,2.22,0.00,0.000,6,0.000,0.035,3508,2164,2202
$GC,1784,0.45,146.6,66.0,11.6,387,1789,0.00,2.22,0.00,0.000,4,0.000,0.044,3508,3562,2202
$GC,1805,0.45,146.6,63.1,12.3,392,1812,0.08,2.25,0.00,0.000,6,0.143,0.036,3492,2141,2201
$GC,1942,0.45,146.6,48.9,9.7,423,1948,0.00,2.25,0.00,0.000,4,0.000,0.045,3492,3557,2202
$GC,1972,0.45,146.6,45.4,10.8,430,1979,0.00,2.22,0.00,0.000,6,0.000,0.036,3501,2147,2201
$GC,2109,0.45,146.6,31.2,10.3,461,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2146,2201
$GC,2179,0.45,146.6,24.1,10.1,477,2184,0.00,2.22,0.00,0.000,4,0.000,0.045,3501,3560,2201
$GC,2205,0.45,146.6,21.1,10.8,483,2211,0.00,2.20,0.00,0.000,6,0.000,0.036,3513,2156,2200
$GC,2276,0.45,146.6,13.8,9.9,499,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2155,2201
$GC,2345,0.45,146.6,7.2,9.4,515,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2154,2201
$STATE,2384,end climb,SURFACE_DEPTH_REACHED
$STATE,2384,begin surface coast
$FINISH,3.4,1.019331
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2450,127.72,0.525,0,0,1067,425.10
$SM_GC,0.91,0.00,0.00,127.72,0.000,0.000,0.525,201,2216,1067,-9.82,0.45,425.10
$IRIDIUM_FIX,4751.72,-12220.85,121298,111111
$TT8_MAMPS,0.052156
$HUMID,2079
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,39.5
$24V_AH,24.6,4.945
$10V_AH,10.6,4.415
$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,21.650,44.825,215.475,127.725,0.000,27.538,25.874,235.803,0.750,0.000,0.000,17.246,0.000,1074.570,453.827,1040.774,368.888,33.306,904.890,0.000,842.800,0.000,5.507,0.000
$DEVICE_MAMPS,240.071,95.108,599.794,524.628,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,359.676,587.992,514.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38265,536
$CAP_FILE_SIZE,57397,0
$CFSIZE,260165632,255836160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170909,132222,4808.099,-12223.693,13,3.3,32,18.3