version: 66.01
glider: 108
mission: 4
dive: 34
start: 8 19 107 16 44 30
data:
$ID,108
$MISSION,4
$DIVE,34
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,135
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51322
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102509.16
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,775
$PITCH_MAX,3245
$C_PITCH,2180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.3
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,154
$ROLL_MAX,3928
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,3
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,568
$VBD_MAX,3955
$C_VBD,2776
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.045347
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,163621,4803.987,-12220.096,9,1.4,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-54.9
$GPS2,164407,4803.975,-12220.108,13,1.6,29,18.3
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,FIVE_nb
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,333.0,2196,-23.1,-10.000
$D_GRID,108
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.67,-132.0,0.0,0.0,0,68,0.00,0.00,-48.62,0.000,2,0.000,0.000,779,2201,2108
$GC,70,-1.67,-132.0,3.5,-4.3,7,112,6.85,2.62,-29.45,0.000,4,0.229,0.072,1809,3621,3317
$GC,364,-1.55,-132.0,63.1,-22.0,40,372,0.15,2.45,0.00,0.000,6,0.147,0.040,1836,2215,3319
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,617,-0.33,0.0,108.5,17.8,64,727,1.42,0.00,102.28,0.720,6,0.134,0.000,2104,2414,2775
$STATE,728,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,730,1.67,132.0,113.6,0.0,75,839,2.00,2.62,100.75,0.701,4,0.070,0.064,2545,993,2237
$GC,1019,1.52,132.0,82.4,14.8,100,1024,0.20,2.45,0.00,0.000,6,0.158,0.048,2513,2392,2237
$GC,1344,1.43,132.0,45.3,10.7,130,1348,0.00,2.58,0.00,0.000,4,0.000,0.069,2513,3797,2236
$GC,1386,1.32,132.0,40.2,11.5,133,1395,0.25,2.47,0.00,0.000,6,0.156,0.044,2471,2403,2236
$GC,1584,1.30,142.8,21.9,9.4,152,1598,0.00,2.62,7.90,0.743,4,0.000,0.067,2471,996,2192
$GC,1665,1.27,142.8,13.4,10.0,164,1672,0.00,2.47,0.00,0.000,6,0.000,0.048,2471,2403,2192
$GC,1740,1.35,207.7,7.5,6.7,177,1798,0.00,2.62,48.47,0.684,4,0.000,0.067,2471,3796,1928
$STATE,1928,end climb,NO_VERTICAL_VELOCITY
$STATE,1928,begin surface
$SM_CCo,1930,209.75,0.642,0,0,568,541.62
$SM_GC,2.08,7.65,0.00,0.00,0.049,0.000,0.000,778,2208,563,-6.43,-0.06,542.85
$RAFOS_CLK,50
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12217.40,190807,202046
$TT8_MAMPS,0.02301
$HUMID,1924
$INTERNAL_PRESSURE,11.1821
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,0.1,6.041
$10V_AH,10.2,2.172
$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,18.525,26.100,259.400,209.750,0.000,76.195,96.048,135.256,0.250,31.538,472.616,955.949,529.315,418.108,354.929,0.000,780.643,0.000,396.549,0.000,0.465
$DEVICE_MAMPS,229.333,72.098,743.223,641.979,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.773,137.430,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,211
$CFSIZE,256090112,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1490.5
$CURRENT,0.059,200.2,1
$GPS,190807,172245,4804.073,-12220.051,12,2.0,12,18.3