version: 66.04
glider: 509
mission: 3
dive: 10
start: 3 25 110 2 31 16
data:
$ID,509
$MISSION,3
$DIVE,10
$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,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,350
$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,-3486.4204
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,66
$PITCH_MAX,3829
$C_PITCH,2885
$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,50
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,427
$VBD_MAX,3960
$C_VBD,3253
$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
$GPS1,022425,4806.157,-12222.048,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.5
$GPS2,023037,4806.127,-12222.029,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.014,-0.173
$KALMAN_X,147.1,28.1,31.7,1244.5,1.0
$KALMAN_Y,813.2,143.2,-9.3,-3159.0,203.9
$MHEAD_RNG_PITCHd_Wd,157.1,239,-27.2,-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,-0.90,-63.1,0.0,0.0,0,75,0.00,0.00,-61.80,0.000,2,0.000,0.000,69,2416,3380
$GC,76,-0.95,-97.7,3.2,-4.4,11,100,11.82,2.35,-5.88,0.000,4,0.282,0.097,2558,3798,3653
$GC,340,-0.95,-97.7,68.1,-23.8,60,346,0.00,2.22,0.00,0.000,6,0.000,0.051,2558,2412,3655
$GC,408,-0.95,-97.7,84.0,-22.8,73,415,0.00,2.38,0.00,0.000,4,0.000,0.087,2548,3787,3655
$GC,418,-0.95,-97.7,86.4,-23.0,75,426,0.08,2.22,0.00,0.000,6,0.199,0.054,2568,2408,3655
$STATE,541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,541,begin apogee
$GC,544,-0.15,0.0,112.4,18.9,98,627,0.90,0.00,78.07,0.620,6,0.179,0.000,2825,2348,3252
$STATE,627,end apogee,CONTROL_FINISHED_OK
$STATE,627,begin climb
$GC,628,0.95,97.7,116.9,0.0,113,711,1.08,0.00,78.05,0.597,6,0.102,0.000,3178,2347,2854
$GC,967,0.95,97.7,81.0,10.8,176,968,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2347,2852
$GC,1224,0.95,99.4,54.4,9.8,224,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2347,2851
$GC,1288,0.96,107.3,48.2,9.2,236,1301,0.00,2.25,8.85,0.529,4,0.000,0.043,3189,936,2815
$GC,1332,0.97,113.9,43.9,9.3,244,1344,0.00,2.28,6.85,0.495,6,0.000,0.055,3189,2334,2787
$GC,1407,0.97,113.9,35.4,11.4,258,1414,0.00,2.35,0.00,0.000,4,0.000,0.068,3189,3751,2787
$GC,1455,0.97,113.9,29.3,13.1,267,1462,0.00,2.22,0.00,0.000,6,0.000,0.036,3199,2311,2787
$GC,1492,0.97,113.9,24.8,11.7,274,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2311,2787
$GC,1524,0.97,113.9,21.0,11.7,280,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2311,2787
$GC,1556,0.97,113.9,17.4,11.2,286,1563,0.00,2.40,0.00,0.000,4,0.000,0.066,3199,3763,2787
$GC,1573,0.97,113.9,15.6,11.7,289,1579,0.00,2.17,0.00,0.000,6,0.000,0.035,3210,2349,2787
$GC,1609,0.97,113.9,11.6,10.2,296,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2349,2787
$GC,1641,0.99,130.0,8.8,8.3,302,1659,0.00,0.00,13.85,0.541,6,0.000,0.000,3210,2349,2721
$GC,1690,1.03,163.7,5.6,6.4,311,1719,0.00,0.00,26.10,0.546,6,0.000,0.000,3210,2349,2584
$GC,1749,1.13,246.0,4.4,1.2,322,1806,0.12,2.42,48.25,0.539,4,0.087,0.065,3253,3761,2248
$STATE,1808,end climb,SURFACE_DEPTH_REACHED
$STATE,1808,begin surface coast
$FINISH,1.2,1.018839
$STATE,1851,end surface coast,CONTROL_FINISHED_OK
$STATE,1851,begin surface
$SM_CCo,1868,46.58,0.530,0,0,1826,350.04
$SM_GC,2.29,0.00,0.00,46.58,0.000,0.000,0.530,68,2401,1826,-8.81,0.03,350.04
$IRIDIUM_FIX,4748.51,-12224.57,190699,010159
$TT8_MAMPS,0.049855
$HUMID,1706
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.0
$24V_AH,24.6,7.745
$10V_AH,10.4,2.106
$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,23.625,27.525,260.025,46.575,0.000,31.257,37.937,205.808,0.500,0.000,0.000,14.194,0.000,884.119,354.085,655.187,369.081,33.318,674.609,0.000,502.245,0.000,5.518,0.000
$DEVICE_MAMPS,282.256,97.409,619.736,529.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.058,110.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9562,341
$CAP_FILE_SIZE,194002,0
$CFSIZE,260165632,258871296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,030355,4805.980,-12222.076,10,2.0,27,18.3