version: 66.04
glider: 508
mission: 1
dive: 21
start: 3 25 110 11 24 56
data:
$ID,508
$MISSION,1
$DIVE,21
$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,83
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51441
$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,420
$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,-4657.0952
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3830
$C_PITCH,2925
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,188
$ROLL_MAX,3886
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,406
$VBD_MAX,3959
$C_VBD,3175
$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,-52.883526
$PRESSURE_SLOPE,0.00011664975
$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,12
$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,2
$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,0.0043625706
$SEABIRD_T_H,0.00062766817
$SEABIRD_T_I,2.4054307e-05
$SEABIRD_T_J,2.5982079e-06
$SEABIRD_C_G,-10.264917
$SEABIRD_C_H,1.1750405
$SEABIRD_C_I,-0.0019043442
$SEABIRD_C_J,0.00022620763
$GPS1,111852,4806.400,-12222.584,12,3.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.7
$GPS2,112417,4806.396,-12222.587,11,3.7,30,18.3
$SPEED_LIMITS,0.060,0.242
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.197
$KALMAN_X,-478.5,180.3,409.0,430.4,-152.9
$KALMAN_Y,1161.1,89.3,-323.3,-2812.8,339.1
$MHEAD_RNG_PITCHd_Wd,126.1,1031,-7.8,-6.024
$D_GRID,103
$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,-0.48,-195.4,0.0,0.0,0,88,0.00,0.00,-75.30,0.000,2,0.000,0.000,78,2455,3348
$GC,89,-0.48,-195.4,3.2,-2.8,14,123,12.62,2.38,-12.73,0.000,4,0.285,0.081,2757,3855,3962
$GC,275,-0.48,-195.4,30.8,-11.5,49,283,0.00,2.22,0.00,0.000,6,0.000,0.038,2757,2450,3964
$GC,345,-0.48,-195.4,38.7,-11.6,62,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2450,3964
$GC,409,-0.48,-195.4,46.1,-11.4,74,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2449,3964
$GC,537,-0.48,-195.4,60.4,-11.1,98,544,0.00,2.38,0.00,0.000,4,0.000,0.074,2757,3852,3964
$GC,574,-0.48,-195.4,64.3,-10.9,105,581,0.00,2.22,0.00,0.000,6,0.000,0.041,2757,2443,3964
$GC,707,-0.48,-195.4,78.6,-11.0,130,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2442,3964
$GC,835,-0.48,-195.4,92.3,-10.6,154,842,0.00,2.38,0.00,0.000,4,0.000,0.072,2757,3856,3964
$GC,894,-0.48,-195.4,98.2,-10.0,165,901,0.00,2.22,0.00,0.000,6,0.000,0.041,2757,2429,3964
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,948,-0.16,0.0,103.5,10.1,175,1098,0.38,0.00,146.95,0.761,6,0.136,0.000,2870,2428,3175
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1100,0.48,195.4,109.5,0.0,203,1260,0.62,2.35,152.05,0.723,4,0.105,0.044,3074,1026,2377
$GC,1354,0.48,195.4,96.2,7.6,251,1361,0.00,2.35,0.00,0.000,6,0.000,0.051,3074,2411,2374
$GC,1616,0.48,195.4,75.7,7.9,300,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2411,2373
$GC,1744,0.48,195.4,65.6,7.9,324,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,2372
$GC,1872,0.48,195.4,56.0,7.6,348,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2410,2372
$GC,2001,0.48,195.4,46.1,7.8,372,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,2372
$GC,2129,0.48,195.4,36.6,7.4,396,2136,0.00,2.20,0.00,0.000,4,0.000,0.045,3074,1028,2372
$GC,2171,0.48,195.4,33.8,6.6,404,2179,0.00,2.28,0.00,0.000,6,0.000,0.050,3075,2420,2372
$GC,2241,0.48,195.4,28.9,7.3,417,2248,0.00,2.30,0.00,0.000,4,0.000,0.062,3074,3823,2372
$GC,2272,0.48,195.4,26.2,8.0,423,2279,0.00,2.20,0.00,0.000,6,0.000,0.038,3085,2418,2372
$GC,2341,0.48,195.4,20.8,7.8,436,2348,0.00,2.20,0.00,0.000,4,0.000,0.044,3094,1019,2372
$GC,2373,0.48,195.4,18.5,7.4,442,2380,0.00,2.28,0.00,0.000,6,0.000,0.049,3094,2418,2372
$GC,2442,0.48,195.4,13.2,7.3,455,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2418,2372
$GC,2507,0.48,195.4,8.6,7.0,467,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2418,2372
$GC,2571,0.48,195.4,4.5,6.5,479,2578,0.00,2.22,0.00,0.000,4,0.000,0.044,3102,1014,2372
$GC,2602,0.55,249.4,3.0,4.9,485,2611,0.00,2.25,5.00,0.561,2,0.000,0.048,3102,2415,2327
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,2.5,1.020980
$STATE,2614,end surface coast,CONTROL_FINISHED_OK
$STATE,2614,begin surface
$SM_CCo,2627,106.12,0.694,0,0,1461,420.19
$SM_GC,1.48,0.00,0.00,106.12,0.000,0.000,0.694,79,2453,1461,-8.90,0.08,420.19
$IRIDIUM_FIX,4748.51,-12226.29,190699,101051
$TT8_MAMPS,0.052923
$HUMID,1913
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,18.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,42.1
$24V_AH,24.2,5.708
$10V_AH,10.6,1.491
$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,22.150,36.475,304.000,106.125,0.000,27.437,33.881,185.057,1.500,0.000,0.000,32.946,0.000,1370.445,492.621,905.809,289.616,33.296,910.094,0.000,711.813,0.000,5.503,0.000
$DEVICE_MAMPS,284.557,117.351,760.864,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.943,217.305,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15878,487
$CAP_FILE_SIZE,51169,0
$CFSIZE,260165632,258719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,121125,4806.103,-12222.364,38,1.8,38,18.3