version: 66.04
glider: 509
mission: 3
dive: 31
start: 3 25 110 16 45 34
data:
$ID,509
$MISSION,3
$DIVE,31
$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,-3962.3589
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,164006,4806.919,-12222.732,38,1.0,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.6
$GPS2,164456,4806.976,-12222.753,13,1.3,13,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.299
$KALMAN_X,-1192.1,-262.4,-430.7,2440.7,10.8
$KALMAN_Y,1477.1,-880.9,-342.1,-892.0,-436.3
$MHEAD_RNG_PITCHd_Wd,318.5,2444,-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,11,-0.73,-244.3,0.0,0.0,0,78,0.00,0.00,-64.65,0.000,2,0.000,0.000,68,2346,2986
$GC,80,-0.73,-244.3,3.2,-5.9,12,123,12.10,2.53,-26.50,0.000,4,0.280,0.097,2641,3778,3964
$GC,362,-0.73,-244.3,53.0,-18.5,65,369,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2376,3966
$GC,431,-0.73,-244.3,65.6,-18.8,78,438,0.00,2.42,0.00,0.000,4,0.000,0.087,2632,3773,3966
$GC,457,-0.73,-244.3,70.6,-19.4,83,464,0.00,2.22,0.00,0.000,6,0.000,0.049,2632,2369,3966
$GC,526,-0.73,-244.3,83.9,-19.5,96,533,0.12,2.20,0.00,0.000,4,0.176,0.044,2662,969,3966
$GC,568,-0.73,-244.3,91.0,-15.7,104,575,0.00,2.30,0.00,0.000,6,0.000,0.062,2662,2362,3966
$STATE,739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,739,begin apogee
$GC,742,-0.23,0.0,117.4,15.4,136,894,0.50,0.00,145.52,0.624,6,0.151,0.000,2814,2254,3212
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,896,0.73,244.3,122.2,0.0,165,1096,0.93,0.00,192.32,0.596,6,0.077,0.000,3131,2253,2216
$GC,1351,0.73,244.3,66.4,14.2,251,1358,0.00,2.38,0.00,0.000,4,0.000,0.070,3130,3655,2213
$GC,1377,0.73,244.3,62.4,15.9,256,1384,0.00,2.25,0.00,0.000,6,0.000,0.037,3141,2233,2213
$GC,1446,0.73,244.3,51.9,15.1,269,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2230,2213
$GC,1510,0.73,244.3,42.1,15.2,281,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2230,2213
$GC,1574,0.73,244.3,32.8,14.2,293,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2230,2213
$GC,1606,0.73,244.3,28.1,14.0,299,1613,0.00,2.17,0.00,0.000,4,0.000,0.043,3151,848,2213
$GC,1617,0.73,244.3,26.5,14.1,301,1623,0.00,2.28,0.00,0.000,6,0.000,0.049,3151,2259,2213
$GC,1653,0.73,244.3,21.1,14.5,308,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2259,2213
$GC,1685,0.73,244.3,16.3,14.5,314,1693,0.00,2.22,0.00,0.000,4,0.000,0.043,3160,848,2214
$GC,1696,0.73,244.3,15.0,13.5,316,1703,0.00,2.25,0.00,0.000,6,0.000,0.048,3160,2249,2213
$GC,1733,0.73,244.3,9.9,13.4,323,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2249,2213
$GC,1765,0.73,244.3,5.3,13.8,329,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2249,2213
$STATE,1790,end climb,SURFACE_DEPTH_REACHED
$STATE,1790,begin surface coast
$FINISH,1.0,1.020552
$STATE,1823,end surface coast,CONTROL_FINISHED_OK
$STATE,1823,begin surface
$SM_CCo,1837,103.38,0.535,1,0,1377,450.12
$SM_GC,1.24,0.00,0.00,103.38,0.000,0.000,0.535,67,2379,1377,-8.86,0.25,450.12
$IRIDIUM_FIX,4748.51,-12224.57,190699,161646
$TT8_MAMPS,0.050622
$HUMID,1691
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,46.3
$24V_AH,24.4,9.474
$10V_AH,10.7,2.579
$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,22.625,27.825,337.850,103.375,0.000,30.573,36.237,162.266,0.500,0.000,0.000,14.810,0.000,823.816,502.294,634.290,276.389,33.298,831.083,0.000,501.017,0.000,5.528,0.000
$DEVICE_MAMPS,279.955,97.409,623.571,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.097,106.378,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9620,340
$CAP_FILE_SIZE,40990,0
$CFSIZE,260165632,258387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250310,171831,4807.237,-12222.907,9,1.6,14,18.3