version: 66.04
glider: 509
mission: 3
dive: 28
start: 3 25 110 14 49 59
data:
$ID,509
$MISSION,3
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51513
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-3879.3269
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,66
$PITCH_MAX,3829
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,3866
$ROLL_DEG,40
$C_ROLL_DIVE,2370
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,427
$VBD_MAX,3960
$C_VBD,3213
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-53.861084
$PRESSURE_SLOPE,0.00011619828
$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,5
$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
$DEVICE2,20
$DEVICE3,-1
$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,0.0043848851
$SEABIRD_T_H,0.00062951574
$SEABIRD_T_I,2.5184547e-05
$SEABIRD_T_J,2.8240252e-06
$SEABIRD_C_G,-10.113074
$SEABIRD_C_H,1.152099
$SEABIRD_C_I,-0.0021905303
$SEABIRD_C_J,0.00025245731
$GPS1,144431,4806.063,-12222.108,6,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,144920,4806.109,-12222.127,13,1.7,13,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,0.324
$KALMAN_X,-1951.2,-168.4,470.3,2979.6,-277.0
$KALMAN_Y,2287.3,48.1,-815.5,-3762.2,-448.7
$MHEAD_RNG_PITCHd_Wd,337.6,4198,-13.0,-10.000
$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,9,begin dive
$GC,11,-0.73,-244.3,0.0,0.0,0,93,0.00,0.00,-80.07,0.000,2,0.000,0.000,67,2385,3379
$GC,94,-0.73,-244.3,3.1,-4.3,15,127,12.15,2.25,-14.27,0.000,4,0.281,0.058,2652,960,3963
$GC,366,-0.73,-244.3,51.2,-16.6,66,373,0.00,2.30,0.00,0.000,6,0.000,0.058,2649,2359,3965
$GC,435,-0.73,-244.3,63.4,-17.9,79,441,0.00,2.20,0.00,0.000,4,0.000,0.044,2649,969,3965
$GC,493,-0.73,-244.3,73.5,-16.8,90,500,0.00,2.30,0.00,0.000,6,0.000,0.058,2642,2375,3965
$GC,562,-0.73,-244.3,85.7,-18.1,103,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2375,3965
$STATE,737,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,738,begin apogee
$GC,741,-0.23,0.0,117.2,17.5,136,893,0.57,0.00,145.20,0.623,6,0.153,0.000,2815,2264,3213
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,895,0.73,244.3,123.2,0.0,165,1096,0.93,0.00,192.48,0.594,6,0.093,0.000,3120,2263,2215
$GC,1350,0.73,244.3,68.5,14.1,251,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1415,0.73,244.3,59.8,13.6,263,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1478,0.73,244.3,51.3,13.4,275,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2212
$GC,1542,0.73,244.3,42.6,13.5,287,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1606,0.73,244.3,34.1,13.4,299,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1638,0.73,244.3,30.0,13.4,305,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1670,0.73,244.3,25.7,12.8,311,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1702,0.73,244.3,21.7,12.5,317,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1734,0.73,244.3,17.8,12.0,323,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2263,2213
$GC,1766,0.73,244.3,14.0,11.8,329,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2212
$GC,1798,0.73,244.3,10.3,11.6,335,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2263,2213
$GC,1830,0.73,244.3,6.6,11.6,341,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2263,2213
$GC,1862,0.73,244.3,3.1,11.5,347,1869,0.00,2.30,0.00,0.000,4,0.000,0.068,3120,3653,2213
$STATE,1871,end climb,SURFACE_DEPTH_REACHED
$STATE,1871,begin surface coast
$FINISH,1.1,1.019831
$STATE,1887,end surface coast,CONTROL_FINISHED_OK
$STATE,1888,begin surface
$SM_CCo,1902,95.47,0.542,0,0,1377,450.12
$SM_GC,1.28,0.00,0.00,95.47,0.000,0.000,0.542,70,2338,1377,-8.84,-0.90,450.12
$IRIDIUM_FIX,4748.51,-12224.57,190699,141425
$TT8_MAMPS,0.050622
$HUMID,1696
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,45.7
$24V_AH,24.4,9.216
$10V_AH,10.7,2.515
$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,22.375,13.575,337.675,95.475,0.000,30.994,37.571,159.727,0.500,0.000,0.000,15.212,0.000,898.005,463.146,654.093,274.376,33.304,793.198,0.000,518.176,0.000,5.527,0.000
$DEVICE_MAMPS,280.722,68.263,622.804,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,229.815,110.491,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9585,352
$CAP_FILE_SIZE,40385,0
$CFSIZE,260165632,258478080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,152350,4806.361,-12222.271,13,2.0,13,18.3