version: 66.04
glider: 509
mission: 3
dive: 19
start: 3 25 110 8 36 55
data:
$ID,509
$MISSION,3
$DIVE,19
$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,-3692.1052
$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,52
$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
$GPS1,083150,4804.804,-12220.728,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.4
$GPS2,083616,4804.804,-12220.736,10,6.5,29,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,-0.115
$KALMAN_X,-1419.5,-272.1,-385.1,5122.1,-177.6
$KALMAN_Y,4252.8,296.3,266.1,-9469.3,701.2
$MHEAD_RNG_PITCHd_Wd,184.4,488,-36.6,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.15,-35.5,0.0,0.0,0,91,0.00,0.00,-77.07,0.000,6,0.000,0.000,71,2409,3359
$GC,93,-1.18,-57.7,3.5,-5.8,15,111,11.60,2.30,-2.20,0.000,4,0.285,0.062,2506,1002,3451
$GC,349,-1.18,-57.7,55.9,-20.9,63,356,0.00,2.30,0.00,0.000,6,0.000,0.065,2498,2382,3452
$GC,418,-1.18,-57.7,70.6,-22.0,76,425,0.00,2.17,0.00,0.000,4,0.000,0.048,2498,1016,3452
$STATE,630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,630,begin apogee
$GC,635,-0.21,0.0,115.1,18.5,116,688,1.25,0.00,46.88,0.621,6,0.206,0.000,2823,2357,3213
$STATE,688,end apogee,CONTROL_FINISHED_OK
$STATE,688,begin climb
$GC,689,1.18,57.7,118.8,0.0,126,742,1.35,2.38,46.62,0.602,4,0.104,0.067,3270,3758,2976
$GC,858,1.18,57.7,99.9,11.9,158,865,0.00,2.20,0.00,0.000,6,0.000,0.034,3281,2349,2975
$GC,1120,1.19,67.3,76.3,8.2,207,1133,0.00,2.38,8.98,0.542,4,0.000,0.062,3281,3767,2937
$GC,1371,1.19,67.3,49.2,10.6,254,1378,0.00,2.15,0.00,0.000,6,0.000,0.032,3291,2353,2937
$GC,1440,1.20,73.9,42.8,8.8,267,1453,0.00,2.30,6.78,0.508,4,0.000,0.061,3291,3770,2910
$GC,1499,1.20,73.9,36.9,10.6,278,1506,0.00,2.15,0.00,0.000,6,0.000,0.031,3302,2355,2910
$GC,1536,1.20,74.3,33.3,9.9,285,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2355,2910
$GC,1568,1.20,74.6,30.2,9.9,291,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2355,2910
$GC,1600,1.21,79.8,27.2,9.0,297,1613,0.00,2.17,6.22,0.489,4,0.000,0.039,3313,957,2887
$GC,1782,1.23,98.5,13.2,6.5,331,1805,0.00,2.22,15.70,0.551,6,0.000,0.045,3313,2360,2810
$GC,1835,1.25,113.8,9.5,7.1,341,1853,0.00,2.28,13.32,0.534,4,0.000,0.061,3313,3761,2747
$GC,1947,1.31,158.3,3.4,1.6,362,1976,0.00,2.15,24.10,0.544,6,0.000,0.031,3323,2352,2566
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1994,begin surface coast
$FINISH,2.2,1.020781
$STATE,2155,end surface coast,CONTROL_FINISHED_OK
$STATE,2155,begin surface
$SM_CCo,2170,136.62,0.539,0,0,1377,450.12
$SM_GC,1.45,0.00,0.00,136.62,0.000,0.000,0.539,68,2409,1377,-8.85,0.25,450.12
$IRIDIUM_FIX,4748.51,-12221.84,190699,080813
$TT8_MAMPS,0.050622
$HUMID,1698
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,43.9
$24V_AH,24.6,8.447
$10V_AH,10.7,2.313
$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,24.225,31.450,168.600,136.625,0.000,24.901,35.312,127.238,0.500,0.000,0.000,32.145,0.000,1190.563,394.599,755.419,235.436,33.307,721.906,0.000,588.246,0.000,5.520,0.000
$DEVICE_MAMPS,284.557,95.875,621.270,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.352,130.067,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12709,401
$CAP_FILE_SIZE,42324,0
$CFSIZE,260165632,258719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,091606,4804.704,-12220.713,11,1.7,27,18.3