version: 66.04
glider: 509
mission: 3
dive: 27
start: 3 25 110 14 12 12
data:
$ID,509
$MISSION,3
$DIVE,27
$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,-3863.4895
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,140058,4805.785,-12221.870,8,3.8,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,141134,4805.861,-12221.910,11,3.0,30,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,0.322
$KALMAN_X,-1837.2,-258.5,596.1,3099.1,-171.9
$KALMAN_Y,2423.8,351.3,-750.4,-4728.4,-522.7
$MHEAD_RNG_PITCHd_Wd,334.7,4730,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.73,-244.3,0.0,0.0,0,104,0.00,0.00,-90.00,0.000,2,0.000,0.000,63,2426,3610
$GC,105,-0.73,-244.3,3.6,-6.8,17,133,12.12,2.33,-7.78,0.000,4,0.282,0.058,2651,972,3966
$GC,371,-0.73,-244.3,53.7,-16.5,67,379,0.00,2.25,0.00,0.000,6,0.000,0.059,2646,2348,3968
$GC,441,-0.73,-244.3,66.0,-17.5,80,447,0.00,2.17,0.00,0.000,4,0.000,0.044,2646,971,3968
$GC,515,-0.73,-244.3,78.8,-16.9,94,522,0.00,2.28,0.00,0.000,6,0.000,0.058,2637,2366,3968
$GC,583,-0.73,-244.3,90.9,-18.1,107,590,0.00,2.35,0.00,0.000,4,0.000,0.074,2627,3774,3967
$GC,615,-0.73,-244.3,96.8,-19.3,113,622,0.10,2.20,0.00,0.000,6,0.166,0.045,2656,2379,3968
$STATE,732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,732,begin apogee
$GC,735,-0.23,0.0,116.3,15.6,135,887,0.52,0.00,145.77,0.622,6,0.146,0.000,2818,2254,3213
$STATE,887,end apogee,CONTROL_FINISHED_OK
$STATE,887,begin climb
$GC,889,0.73,244.3,122.8,0.0,164,1090,0.95,2.45,192.32,0.594,4,0.102,0.068,3125,3659,2216
$GC,1109,0.73,244.3,99.5,16.2,206,1116,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,2234,2215
$GC,1371,0.73,244.3,58.7,14.8,255,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2231,2214
$GC,1435,0.73,244.3,48.9,15.0,267,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2232,2214
$GC,1499,0.73,244.3,39.6,13.8,279,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,2214
$GC,1531,0.73,244.3,34.9,14.7,285,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,2214
$GC,1563,0.73,244.3,30.2,14.5,291,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2231,2214
$GC,1595,0.73,244.3,25.5,15.1,297,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,2214
$GC,1627,0.73,244.3,21.0,13.9,303,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,2214
$GC,1659,0.73,244.3,16.7,13.3,309,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2231,2214
$GC,1691,0.73,244.3,12.5,13.1,315,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2231,2214
$GC,1723,0.73,244.3,8.5,12.4,321,1730,0.00,2.38,0.00,0.000,4,0.000,0.067,3136,3662,2214
$GC,1739,0.73,244.3,6.3,13.3,324,1746,0.00,2.20,0.00,0.000,6,0.000,0.036,3147,2245,2213
$STATE,1769,end climb,SURFACE_DEPTH_REACHED
$STATE,1769,begin surface coast
$FINISH,1.2,1.019281
$STATE,1796,end surface coast,CONTROL_FINISHED_OK
$STATE,1796,begin surface
$SM_CCo,1810,99.60,0.539,0,0,1377,450.12
$SM_GC,1.25,0.00,0.00,99.60,0.000,0.000,0.539,67,2384,1377,-8.86,0.40,450.12
$IRIDIUM_FIX,4748.51,-12220.12,190699,141437
$TT8_MAMPS,0.050622
$HUMID,1691
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,45.5
$24V_AH,24.4,9.131
$10V_AH,10.7,2.493
$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,22.525,23.350,338.100,99.600,0.000,87.605,184.660,162.596,0.500,0.000,0.000,33.162,0.000,933.490,486.993,643.496,483.363,33.304,811.548,0.000,493.876,0.000,5.527,0.000
$DEVICE_MAMPS,282.256,73.632,622.037,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.838,106.215,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9639,335
$CAP_FILE_SIZE,41939,0
$CFSIZE,260165632,258502656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,144431,4806.063,-12222.108,6,1.5,11,18.3