version: 66.04
glider: 503
mission: 3
dive: 19
start: 9 17 109 9 56 41
data:
$ID,503
$MISSION,3
$DIVE,19
$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,-7601.6958
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,094504,4807.135,-12223.120,11,2.5,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-82.5
$GPS2,095602,4807.115,-12223.085,11,1.3,11,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,0.202
$KALMAN_X,-1177.6,79.4,209.8,-137.1,150.2
$KALMAN_Y,-584.4,-317.0,-89.7,1671.8,-673.1
$MHEAD_RNG_PITCHd_Wd,321.0,1992,-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,12,-0.45,-146.6,0.0,0.0,0,70,0.00,0.00,-56.90,0.000,2,0.000,0.000,196,2184,2666
$GC,72,-0.45,-146.6,3.3,-5.1,10,107,12.00,2.17,-17.42,0.000,4,0.242,0.053,3188,785,3399
$GC,142,-0.45,-146.6,9.0,-5.6,24,147,0.00,2.25,0.00,0.000,6,0.000,0.041,3180,2200,3400
$GC,212,-0.45,-146.6,15.1,-8.6,40,218,0.00,2.22,0.00,0.000,4,0.000,0.047,3171,3611,3399
$GC,295,-0.45,-146.6,23.4,-10.0,59,302,0.00,2.22,0.00,0.000,6,0.000,0.034,3171,2194,3400
$GC,366,-0.45,-146.6,31.0,-10.7,75,371,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2193,3400
$GC,435,-0.45,-146.6,38.3,-10.7,91,441,0.00,2.28,0.00,0.000,4,0.000,0.047,3162,3613,3400
$GC,475,-0.45,-146.6,42.6,-10.8,100,482,0.08,2.20,0.00,0.000,6,0.119,0.034,3190,2205,3400
$GC,612,-0.45,-146.6,54.8,-9.0,131,617,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2205,3401
$GC,746,-0.45,-146.6,66.8,-8.7,162,752,0.00,2.25,0.00,0.000,4,0.000,0.048,3182,3613,3400
$GC,799,-0.45,-146.6,71.6,-9.1,174,805,0.00,2.20,0.00,0.000,6,0.000,0.034,3182,2201,3400
$GC,936,-0.45,-146.6,84.1,-9.1,205,941,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2200,3400
$GC,1070,-0.45,-146.6,96.2,-8.9,236,1076,0.00,2.25,0.00,0.000,4,0.000,0.048,3174,3610,3400
$GC,1149,-0.45,-146.6,103.6,-9.0,254,1156,0.00,2.17,0.00,0.000,6,0.000,0.034,3174,2203,3400
$STATE,1241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1241,begin apogee
$GC,1244,-0.14,0.0,112.3,9.4,275,1356,0.35,0.00,106.12,0.601,6,0.107,0.000,3296,2134,2799
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1356,begin climb
$GC,1357,0.45,146.6,115.4,0.0,295,1474,0.52,0.00,109.68,0.572,6,0.079,0.000,3487,2134,2202
$GC,1603,0.45,146.6,95.8,9.6,346,1609,0.00,2.33,0.00,0.000,4,0.000,0.045,3487,3557,2202
$GC,1669,0.45,146.6,88.3,11.5,361,1675,0.00,2.22,0.00,0.000,6,0.000,0.036,3497,2166,2202
$GC,1805,0.45,146.6,73.8,10.5,392,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2164,2201
$GC,1940,0.45,146.6,59.7,10.5,423,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2164,2201
$GC,2074,0.45,146.6,45.9,10.0,454,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2164,2200
$GC,2209,0.45,146.6,32.8,9.8,485,2215,0.00,2.22,0.00,0.000,4,0.000,0.047,3498,3555,2200
$GC,2227,0.45,146.6,30.8,9.7,489,2233,0.00,2.20,0.00,0.000,6,0.000,0.036,3508,2152,2200
$GC,2297,0.45,146.6,24.0,9.4,505,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2150,2200
$GC,2367,0.45,146.6,17.3,9.2,521,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2150,2200
$GC,2437,0.45,146.6,11.0,9.1,537,2443,0.00,2.20,0.00,0.000,4,0.000,0.046,3508,3559,2199
$GC,2464,0.45,146.6,8.2,9.9,543,2470,0.05,2.20,0.00,0.000,6,0.115,0.036,3487,2152,2199
$STATE,2524,end climb,SURFACE_DEPTH_REACHED
$STATE,2525,begin surface coast
$FINISH,2.9,1.019324
$STATE,2595,end surface coast,CONTROL_FINISHED_OK
$STATE,2595,begin surface
$SM_CCo,2608,130.60,0.528,0,0,1067,425.10
$SM_GC,0.82,0.00,0.00,130.60,0.000,0.000,0.528,200,2209,1067,-9.82,0.25,425.10
$IRIDIUM_FIX,4751.72,-12219.12,121298,090907
$TT8_MAMPS,0.051389
$HUMID,2116
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,41.8
$24V_AH,24.6,4.723
$10V_AH,10.6,4.262
$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,21.500,35.725,215.800,130.600,0.000,59.508,55.242,383.899,0.500,0.000,0.000,13.641,0.000,1237.921,449.014,1100.557,605.086,33.300,918.900,0.000,899.450,0.000,5.512,0.000
$DEVICE_MAMPS,242.372,93.574,601.328,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,385.348,626.192,548.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38065,573
$CAP_FILE_SIZE,61767,0
$CFSIZE,260165632,255959040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,104249,4807.414,-12223.312,6,1.8,11,18.3