version: 66.04
glider: 509
mission: 3
dive: 21
start: 3 25 110 9 56 22
data:
$ID,509
$MISSION,3
$DIVE,21
$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,-3724.6765
$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,46
$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
$GPS1,095114,4804.775,-12220.973,14,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.3
$GPS2,095544,4804.763,-12220.976,14,1.6,14,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.129
$KALMAN_X,-878.0,-566.7,-237.9,4436.0,272.1
$KALMAN_Y,3618.9,745.6,348.3,-9441.6,44.3
$MHEAD_RNG_PITCHd_Wd,303.8,439,-28.7,-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,-0.94,-56.8,0.0,0.0,0,78,0.00,0.00,-64.38,0.000,2,0.000,0.000,68,2397,3023
$GC,79,-0.98,-88.5,3.2,-6.3,12,117,11.77,2.50,-18.05,0.000,4,0.280,0.098,2567,3816,3577
$GC,169,-0.98,-88.5,14.6,-18.4,29,176,0.00,2.28,0.00,0.000,6,0.000,0.051,2567,2413,3577
$GC,206,-0.98,-88.5,22.3,-20.5,36,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2412,3577
$GC,238,-0.98,-88.5,28.9,-19.1,42,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2412,3578
$GC,270,-0.98,-88.5,36.2,-22.1,48,277,0.00,2.25,0.00,0.000,4,0.000,0.046,2567,993,3578
$GC,301,-0.98,-88.5,42.8,-21.1,54,308,0.00,2.33,0.00,0.000,6,0.000,0.065,2567,2385,3578
$GC,370,-0.98,-88.5,57.3,-20.4,67,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2385,3578
$GC,435,-0.98,-88.5,70.4,-19.4,79,441,0.00,2.20,0.00,0.000,4,0.000,0.046,2567,992,3578
$GC,477,-0.98,-88.5,79.1,-20.6,87,489,0.00,2.33,0.00,0.000,6,0.000,0.063,2567,2397,3578
$GC,551,-0.98,-88.5,94.5,-20.8,100,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2397,3578
$STATE,663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,663,begin apogee
$GC,666,-0.21,0.0,117.4,19.9,121,740,0.93,0.00,70.70,0.624,6,0.188,0.000,2825,2338,3213
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,741,0.98,88.5,122.0,0.0,135,820,1.15,2.47,70.30,0.603,4,0.104,0.067,3202,3758,2851
$GC,834,0.98,88.5,114.3,12.1,153,841,0.00,2.28,0.00,0.000,6,0.000,0.035,3213,2339,2851
$GC,1096,0.98,88.5,81.0,11.2,202,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2338,2851
$GC,1352,0.98,88.5,51.7,11.3,250,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2339,2850
$GC,1416,0.98,88.5,44.7,10.5,262,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2339,2850
$GC,1481,0.98,88.5,38.0,10.9,274,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2339,2850
$GC,1513,0.98,88.5,34.7,10.2,280,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2339,2850
$GC,1545,0.99,93.7,31.4,9.4,286,1557,0.00,2.38,5.43,0.467,4,0.000,0.065,3213,3768,2830
$GC,1566,0.99,93.7,29.1,10.9,290,1573,0.00,2.17,0.00,0.000,6,0.000,0.034,3223,2347,2830
$GC,1603,0.99,94.1,25.3,9.9,297,1610,0.00,2.15,0.00,0.000,4,0.000,0.039,3234,958,2830
$GC,1613,1.00,101.7,24.3,9.1,299,1626,0.00,2.22,7.85,0.511,6,0.000,0.048,3234,2354,2798
$GC,1656,1.00,101.7,20.3,10.2,307,1663,0.00,2.17,0.00,0.000,4,0.000,0.038,3243,955,2798
$GC,1720,1.00,104.4,14.0,9.7,319,1728,0.00,2.22,3.95,0.398,6,0.000,0.048,3243,2349,2787
$GC,1758,1.00,104.4,10.0,10.8,326,1764,0.00,2.15,0.00,0.000,4,0.000,0.038,3254,962,2786
$GC,1768,1.00,104.4,8.9,10.4,328,1775,0.10,2.22,0.00,0.000,6,0.219,0.048,3228,2354,2786
$GC,1805,1.02,117.5,5.3,8.5,335,1823,0.00,2.33,10.88,0.528,4,0.000,0.064,3228,3760,2733
$STATE,1846,end climb,SURFACE_DEPTH_REACHED
$STATE,1846,begin surface coast
$FINISH,3.3,1.021320
$STATE,1917,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1918,285.77,0.531,0,0,426,683.39
$SM_GC,1.26,9.05,0.00,0.00,0.058,0.000,0.000,69,2411,420,-8.81,0.31,685.11
$IRIDIUM_FIX,4745.30,-12220.12,190699,090958
$TT8_MAMPS,0.049088
$HUMID,1713
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.7,40.9
$24V_AH,24.6,8.602
$10V_AH,10.7,2.355
$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,23.000,40.950,169.100,285.775,0.000,31.663,26.673,150.597,1.000,0.000,0.000,15.988,0.000,1064.016,576.574,680.717,260.367,33.301,894.772,0.000,523.785,0.000,9.940,0.000
$DEVICE_MAMPS,279.955,98.176,624.338,530.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.325,113.792,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12721,356
$CAP_FILE_SIZE,48267,0
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,103536,4804.865,-12221.159,11,1.1,27,18.3