version: 66.04
glider: 509
mission: 3
dive: 20
start: 3 25 110 9 21 4
data:
$ID,509
$MISSION,3
$DIVE,20
$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,-3708.0588
$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,33
$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,2400
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,30
$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
$GPS1,091606,4804.704,-12220.713,11,1.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.6
$GPS2,092026,4804.691,-12220.712,13,1.7,13,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.168,0.096
$KALMAN_X,-953.8,-510.4,-400.8,4940.8,151.3
$KALMAN_Y,3952.0,585.7,352.9,-9753.0,276.9
$MHEAD_RNG_PITCHd_Wd,281.6,674,-24.4,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.83,-78.2,0.0,0.0,0,93,0.00,0.00,-79.72,0.000,2,0.000,0.000,69,2409,3382
$GC,95,-0.91,-135.5,3.2,-5.1,15,122,11.95,2.40,-8.93,0.000,4,0.282,0.095,2588,3806,3769
$GC,265,-0.91,-135.5,43.1,-23.0,47,271,0.00,2.22,0.00,0.000,6,0.000,0.051,2587,2422,3771
$GC,334,-0.91,-135.5,58.5,-21.8,60,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2422,3770
$GC,398,-0.91,-135.5,72.4,-20.6,72,405,0.00,2.25,0.00,0.000,4,0.000,0.046,2587,999,3770
$GC,451,-0.91,-135.5,84.1,-21.4,82,458,0.00,2.30,0.00,0.000,6,0.000,0.063,2581,2387,3771
$STATE,599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,599,begin apogee
$GC,602,-0.21,0.0,116.5,21.7,110,713,0.82,0.00,107.85,0.621,6,0.170,0.000,2821,2386,3213
$STATE,713,end apogee,CONTROL_FINISHED_OK
$STATE,713,begin climb
$GC,715,0.91,135.5,122.4,0.0,131,825,1.10,0.00,107.38,0.597,6,0.100,0.000,3180,2386,2659
$GC,1080,0.91,135.5,74.7,14.3,200,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2386,2657
$GC,1144,0.91,135.5,65.2,15.0,212,1151,0.00,2.30,0.00,0.000,4,0.000,0.041,3191,937,2657
$GC,1192,0.91,135.5,58.4,13.6,221,1199,0.00,2.30,0.00,0.000,6,0.000,0.052,3191,2348,2657
$GC,1261,0.91,135.5,48.3,14.7,234,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2348,2657
$GC,1325,0.91,135.5,38.8,14.2,246,1332,0.00,2.33,0.00,0.000,4,0.000,0.067,3191,3752,2657
$GC,1356,0.91,135.5,34.0,15.0,252,1363,0.00,2.17,0.00,0.000,6,0.000,0.035,3201,2341,2657
$GC,1393,0.91,135.5,28.5,14.4,259,1400,0.00,2.17,0.00,0.000,4,0.000,0.040,3213,948,2657
$GC,1414,0.91,135.5,25.7,13.5,263,1421,0.00,2.25,0.00,0.000,6,0.000,0.049,3213,2350,2657
$GC,1451,0.91,135.5,20.7,13.7,270,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2349,2657
$GC,1483,0.91,135.5,16.5,13.3,276,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2350,2657
$GC,1515,0.91,135.5,12.1,14.0,282,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2349,2657
$GC,1547,0.91,135.5,7.6,14.6,288,1554,0.00,2.30,0.00,0.000,4,0.000,0.065,3213,3749,2657
$STATE,1583,end climb,SURFACE_DEPTH_REACHED
$STATE,1583,begin surface coast
$FINISH,1.9,1.020340
$STATE,1610,end surface coast,CONTROL_FINISHED_OK
$STATE,1610,begin surface
$SM_CCo,1625,153.27,0.539,0,0,1377,450.12
$SM_GC,1.61,0.00,0.00,153.27,0.000,0.000,0.539,68,2396,1377,-8.85,-0.11,450.12
$IRIDIUM_FIX,4748.51,-12231.73,190699,080842
$TT8_MAMPS,0.051389
$HUMID,1678
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.1,40.1
$24V_AH,24.5,8.519
$10V_AH,10.7,2.332
$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,23.225,27.100,215.225,153.275,0.000,30.511,28.107,139.460,1.000,0.000,0.000,15.324,0.000,772.887,451.073,573.536,242.540,33.293,730.013,0.000,443.308,0.000,9.905,0.000
$DEVICE_MAMPS,282.256,95.108,621.270,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.314,93.778,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9598,300
$CAP_FILE_SIZE,38113,0
$CFSIZE,260165632,258699264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,095114,4804.775,-12220.973,14,1.6,14,18.3