version: 66.04
glider: 503
mission: 3
dive: 26
start: 9 17 109 16 4 55
data:
$ID,503
$MISSION,3
$DIVE,26
$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,-7762.8394
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,155758,4808.278,-12224.258,12,5.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-83.1
$GPS2,160416,4808.247,-12224.206,9,3.1,28,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,-0.109
$KALMAN_X,-406.3,1066.7,-240.2,-2832.3,612.4
$KALMAN_Y,-918.8,-3009.0,-399.8,7102.6,87.2
$MHEAD_RNG_PITCHd_Wd,195.2,523,-20.7,-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,-0.62,-46.3,0.0,0.0,0,65,0.00,0.00,-51.65,0.000,2,0.000,0.000,199,2186,2537
$GC,66,-0.63,-53.6,3.2,-5.4,9,96,11.62,2.30,-10.68,0.000,4,0.238,0.056,3122,3604,3021
$GC,343,-0.63,-53.6,23.3,-7.6,71,349,0.00,2.20,0.00,0.000,6,0.000,0.031,3122,2194,3023
$GC,413,-0.63,-53.6,28.8,-8.0,87,418,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2194,3022
$GC,483,-0.63,-53.6,34.8,-8.4,103,489,0.00,2.25,0.00,0.000,4,0.000,0.043,3111,3614,3022
$GC,497,-0.63,-53.6,36.2,-8.8,106,503,0.00,2.20,0.00,0.000,6,0.000,0.031,3111,2195,3023
$GC,567,-0.63,-53.6,43.3,-9.9,122,573,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2194,3023
$GC,702,-0.63,-53.6,56.7,-10.1,153,708,0.00,2.20,0.00,0.000,4,0.000,0.043,3100,3609,3022
$GC,733,-0.63,-53.6,60.2,-11.0,160,740,0.10,2.17,0.00,0.000,6,0.150,0.032,3132,2200,3022
$GC,869,-0.63,-53.6,73.4,-9.4,191,875,0.00,2.20,0.00,0.000,4,0.000,0.043,3122,3613,3023
$GC,896,-0.63,-53.6,76.0,-9.7,197,902,0.00,2.17,0.00,0.000,6,0.000,0.031,3122,2202,3023
$GC,1032,-0.63,-53.6,89.8,-9.8,228,1037,0.00,2.20,0.00,0.000,4,0.000,0.043,3111,3620,3022
$GC,1093,-0.63,-53.6,96.6,-11.1,242,1099,0.00,2.17,0.00,0.000,6,0.000,0.031,3111,2203,3022
$STATE,1180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1180,begin apogee
$GC,1183,-0.14,0.0,105.6,10.1,262,1228,0.55,0.00,40.35,0.597,6,0.133,0.000,3290,2133,2799
$STATE,1229,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1230,0.63,53.6,107.2,0.0,270,1275,0.68,2.25,39.75,0.571,4,0.082,0.038,3550,742,2581
$GC,1300,0.63,53.6,102.7,7.7,284,1306,0.00,2.22,0.00,0.000,6,0.000,0.035,3550,2142,2581
$GC,1436,0.63,53.6,88.8,10.2,315,1441,0.00,2.25,0.00,0.000,4,0.000,0.043,3550,3570,2581
$GC,1545,0.63,53.6,76.0,11.6,340,1551,0.00,2.22,0.00,0.000,6,0.000,0.035,3560,2161,2580
$GC,1681,0.63,53.6,62.1,9.7,371,1687,0.00,2.20,0.00,0.000,4,0.000,0.043,3560,3559,2580
$GC,1708,0.63,53.6,59.2,10.1,377,1714,0.00,2.20,0.00,0.000,6,0.000,0.035,3571,2158,2580
$GC,1843,0.63,53.6,45.7,9.6,408,1849,0.00,2.20,0.00,0.000,4,0.000,0.043,3571,3561,2579
$GC,1913,0.63,53.6,38.1,11.1,424,1920,0.10,2.20,0.00,0.000,6,0.175,0.035,3552,2153,2579
$GC,1985,0.63,53.6,31.8,8.6,440,1991,0.00,2.22,0.00,0.000,4,0.000,0.044,3551,3557,2579
$GC,2011,0.63,53.6,29.2,8.8,446,2018,0.00,2.20,0.00,0.000,6,0.000,0.034,3562,2147,2579
$GC,2082,0.63,53.6,23.6,8.1,462,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2147,2579
$GC,2152,0.63,53.6,18.5,7.5,478,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2148,2578
$GC,2221,0.63,53.6,13.2,7.7,494,2227,0.00,2.22,0.00,0.000,4,0.000,0.043,3562,3557,2579
$GC,2474,0.69,109.5,8.9,1.1,552,2521,0.00,2.17,40.72,0.551,6,0.000,0.035,3573,2155,2352
$GC,2585,0.75,153.8,7.0,2.1,575,2626,0.00,2.28,33.90,0.535,4,0.000,0.041,3583,737,2173
$GC,2873,0.83,219.2,6.1,0.3,639,2926,0.00,2.22,49.28,0.533,6,0.000,0.038,3583,2153,1905
$GC,2990,0.89,264.7,5.0,2.0,663,3021,0.12,0.00,28.58,0.518,2,0.067,0.000,3648,2153,1752
$STATE,3021,end climb,SURFACE_DEPTH_REACHED
$STATE,3021,begin surface coast
$FINISH,-0.2,1.018125
$STATE,3172,end surface coast,CONTROL_FINISHED_OK
$STATE,3172,begin surface
$SM_CCo,3186,85.32,0.510,0,0,1067,425.10
$SM_GC,1.34,0.00,0.00,85.32,0.000,0.000,0.510,198,2205,1067,-9.83,0.17,425.10
$IRIDIUM_FIX,4748.51,-12229.01,121298,151523
$TT8_MAMPS,0.051389
$HUMID,2118
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,35.3
$24V_AH,24.6,5.229
$10V_AH,10.6,4.636
$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,22.475,53.250,232.575,85.325,0.000,25.567,26.151,236.097,0.750,0.000,0.000,31.761,0.000,1480.460,417.158,1372.299,374.997,33.300,975.064,0.000,1113.981,0.000,5.498,0.000
$DEVICE_MAMPS,237.770,98.176,597.493,510.055,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.071,892.950,781.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47754,703
$CAP_FILE_SIZE,67310,0
$CFSIZE,260165632,255655936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,170015,4808.104,-12224.189,11,3.6,30,18.3