version: 66.01
glider: 1
mission: 1
dive: 27
start: 8 4 107 18 27 7
data:
$ID,1
$MISSION,1
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,145
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-483141.22
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,8
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.22280908
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,182118,4804.491,-12220.747,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,182601,4804.491,-12220.769,16,1.1,16,18.0
$SPEED_LIMITS,0.165,0.243
$TGT_NAME,FIVE_nb
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,0.249
$KALMAN_X,7835.5,-1.7,-347.1,-5308.3,24.0
$KALMAN_Y,-13515.2,-321.2,161.1,10048.7,-198.6
$MHEAD_RNG_PITCHd_Wd,329.2,985,-17.8,-10.000
$D_GRID,1001
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,46,-1.13,-141.1,0.0,0.0,0,56,0.00,0.00,-8.35,0.000,6,0.000,0.000,631,2196,2920
$GC,63,-1.13,-141.1,-0.0,0.1,2,78,6.95,3.20,0.00,0.000,4,0.000,0.000,2111,355,2916
$GC,122,-1.13,-141.1,1.8,-6.9,12,129,0.52,3.00,0.00,0.000,6,0.000,0.000,2013,2136,2919
$GC,471,-1.13,-141.1,61.1,-17.7,73,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2147,2917
$STATE,693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,693,begin apogee
$GC,706,-0.25,0.0,100.1,17.8,112,723,1.23,0.00,13.45,0.001,6,0.000,0.000,2239,1782,2243
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,724,begin climb
$GC,729,1.13,141.1,103.7,0.0,113,751,1.50,2.50,11.50,0.001,4,0.000,0.000,2551,402,1668
$GC,799,1.57,404.7,114.1,-2.6,116,828,0.38,2.90,21.12,0.001,6,0.000,0.000,2669,2146,593
$GC,1155,1.57,404.7,74.6,19.1,149,1161,0.47,0.00,0.00,0.000,6,0.000,0.000,2554,2147,599
$GC,1503,1.57,404.7,14.7,16.1,210,1508,0.32,0.00,0.00,0.000,6,0.000,0.000,2641,2145,596
$STATE,1590,end climb,SURFACE_DEPTH_REACHED
$STATE,1590,begin surface coast
$FINISH,1.0,1.017429
$STATE,1608,end surface coast,CONTROL_FINISHED_OK
$STATE,1608,begin surface
$SM_CCo,1638,3.08,0.001,0,0,395,450.86
$SM_CCo,1648,0.00,0.000,0,0,397,455.28
$SM_CCo,1654,0.00,0.000,0,0,399,456.26
$SM_GC,-0.00,0.00,0.00,0.00,0.000,0.000,0.000,643,1777,399,-7.44,-6.08,456.26
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2190
$INTERNAL_PRESSURE,26.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.7,2.062
$10V_AH,9.7,0.585
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,21.100,12.700,46.075,3.075,0.000,0.000,0.000,85.248,0.000,16.314,451.711,809.684,98.057,271.260,323.476,33.341,291.211,0.000,192.932,0.000,0.472
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000
$SENSORS,SBE_CT,Optode,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.125,233.757,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9599,229
$CFSIZE,255582208,244322304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,36,87,0,0
$SOUNDSPEED,1465.0
$GPS,040807,185604,4804.696,-12220.889,27,1.1,27,18.0
$ESCAPE_REASON,NO_RECOVERY_REASON
$ESCAPE_STARTED_DIVE,0