version: 66.04
glider: 503
mission: 3
dive: 20
start: 9 17 109 10 49 54
data:
$ID,503
$MISSION,3
$DIVE,20
$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,-7632.8223
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,104249,4807.414,-12223.312,6,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-82.5
$GPS2,104916,4807.396,-12223.302,8,2.9,27,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,0.210
$KALMAN_X,-1321.2,290.2,251.2,-513.8,-2.8
$KALMAN_Y,-772.3,-594.2,-98.2,2665.0,-717.0
$MHEAD_RNG_PITCHd_Wd,328.3,1414,-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,-56.38,0.000,2,0.000,0.000,200,2209,2645
$GC,72,-0.45,-146.6,3.1,-5.0,10,107,12.05,2.22,-18.27,0.000,4,0.245,0.051,3191,782,3398
$GC,150,-0.45,-146.6,9.6,-7.3,26,157,0.00,2.25,0.00,0.000,6,0.000,0.040,3183,2196,3398
$GC,221,-0.45,-146.6,15.8,-9.0,42,227,0.00,2.25,0.00,0.000,4,0.000,0.047,3173,3601,3399
$GC,287,-0.45,-146.6,22.5,-10.2,57,293,0.00,2.20,0.00,0.000,6,0.000,0.033,3173,2202,3399
$GC,358,-0.45,-146.6,30.1,-11.0,73,363,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2200,3399
$GC,427,-0.45,-146.6,37.3,-10.2,89,433,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2200,3399
$GC,497,-0.45,-146.6,44.2,-9.8,105,502,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2200,3399
$GC,632,-0.45,-146.6,57.5,-9.8,136,638,0.00,2.25,0.00,0.000,4,0.000,0.046,3164,3610,3399
$GC,685,-0.45,-146.6,63.0,-10.4,148,692,0.08,2.20,0.00,0.000,6,0.118,0.033,3193,2199,3399
$GC,822,-0.45,-146.6,74.6,-8.2,179,827,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2198,3399
$GC,957,-0.45,-146.6,85.9,-8.2,210,963,0.00,2.25,0.00,0.000,4,0.000,0.047,3186,3610,3399
$GC,1023,-0.45,-146.6,91.6,-8.7,225,1029,0.00,2.20,0.00,0.000,6,0.000,0.033,3186,2194,3399
$GC,1159,-0.45,-146.6,103.2,-8.5,256,1165,0.00,2.25,0.00,0.000,4,0.000,0.047,3177,3610,3398
$GC,1207,-0.45,-146.6,107.5,-8.8,267,1214,0.00,2.17,0.00,0.000,6,0.000,0.033,3177,2200,3399
$STATE,1259,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1260,begin apogee
$GC,1263,-0.14,0.0,112.2,9.0,279,1374,0.32,0.00,106.07,0.603,6,0.107,0.000,3291,2133,2799
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,0.45,146.6,115.1,0.0,299,1492,0.55,0.00,109.95,0.574,6,0.083,0.000,3487,2133,2202
$GC,1622,0.45,146.6,94.9,10.1,350,1628,0.00,2.33,0.00,0.000,4,0.000,0.044,3487,3558,2202
$GC,1683,0.45,146.6,87.7,11.7,364,1690,0.00,2.22,0.00,0.000,6,0.000,0.035,3498,2165,2202
$GC,1820,0.45,146.6,72.9,10.7,395,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2165,2201
$GC,1954,0.45,146.6,58.8,10.4,426,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2165,2201
$GC,2089,0.45,146.6,45.2,9.9,457,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2165,2200
$GC,2223,0.45,146.6,32.2,9.6,488,2229,0.00,2.22,0.00,0.000,4,0.000,0.045,3498,3556,2200
$GC,2254,0.45,146.6,28.7,10.6,495,2261,0.00,2.20,0.00,0.000,6,0.000,0.036,3509,2153,2200
$GC,2325,0.45,146.6,21.8,9.5,511,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2152,2200
$GC,2394,0.45,146.6,15.5,9.1,527,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2152,2199
$GC,2464,0.45,146.6,9.2,8.9,543,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2152,2199
$STATE,2528,end climb,SURFACE_DEPTH_REACHED
$STATE,2528,begin surface coast
$FINISH,3.3,1.019833
$STATE,2585,end surface coast,CONTROL_FINISHED_OK
$STATE,2585,begin surface
$SM_CCo,2599,125.60,0.527,0,0,1067,425.10
$SM_GC,1.01,0.00,0.00,125.60,0.000,0.000,0.527,199,2214,1067,-9.83,0.37,425.10
$IRIDIUM_FIX,4748.51,-12221.84,121298,101022
$TT8_MAMPS,0.051389
$HUMID,2085
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,42.1
$24V_AH,24.6,4.795
$10V_AH,10.6,4.313
$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,21.675,31.350,216.025,125.600,0.000,29.239,39.365,226.246,0.750,0.000,0.000,30.498,0.000,1177.740,442.104,1114.012,371.738,33.301,912.706,0.000,895.206,0.000,5.515,0.000
$DEVICE_MAMPS,244.673,95.875,602.862,526.929,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,383.832,622.321,545.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38106,571
$CAP_FILE_SIZE,56798,0
$CFSIZE,260165632,255922176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,113604,4807.664,-12223.463,8,2.2,27,18.3