version: 66.02
glider: 118
mission: 6
dive: 525
start: 10 9 107 11 33 47
data:
$ID,118
$MISSION,6
$DIVE,525
$D_SURF,2
$D_FLARE,2
$D_TGT,90
$D_ABORT,1050
$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,35
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51630
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-17883.152
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3800
$C_VBD,3229
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-6.9690108
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,112547,4745.184,-12249.961,10,2.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.9
$GPS2,113326,4745.167,-12249.962,14,1.4,31,18.3
$SPEED_LIMITS,0.148,0.215
$TGT_NAME,FIVE_A
$TGT_LATLONG,4745.086,-12249.815
$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,111.4,237,-27.7,-8.571
$D_GRID,90
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-2.83,-50.1,0.0,0.0,0,105,0.00,0.00,-71.12,0.000,2,0.000,0.000,428,2554,3266
$GC,110,-2.87,-83.4,2.1,-4.8,12,141,11.00,2.55,-9.93,0.000,4,0.164,0.058,2370,1158,3572
$GC,392,-2.87,-83.4,33.6,-10.5,45,398,0.00,2.40,0.00,0.000,6,0.000,0.034,2370,2549,3573
$GC,589,-2.87,-83.4,53.3,-10.2,61,593,0.00,2.47,0.00,0.000,4,0.000,0.044,2371,1153,3574
$GC,682,-2.87,-83.4,63.5,-11.2,67,688,0.00,2.40,0.00,0.000,6,0.000,0.033,2370,2550,3574
$GC,879,-2.87,-83.4,83.5,-10.0,83,883,0.00,2.55,0.00,0.000,4,0.000,0.069,2370,3921,3574
$GC,938,-2.87,-83.4,89.8,-10.6,87,945,0.00,2.35,0.00,0.000,6,0.000,0.033,2370,2530,3574
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,966,-0.50,0.0,91.7,10.2,89,1036,2.58,0.00,64.68,0.595,6,0.110,0.000,2886,2410,3229
$STATE,1037,end apogee,CONTROL_FINISHED_OK
$STATE,1037,begin climb
$GC,1041,2.87,83.4,94.0,0.0,95,1111,3.35,0.00,63.08,0.579,6,0.051,0.000,3631,2410,2888
$GC,1299,2.87,83.4,57.7,16.7,116,1303,0.00,2.47,0.00,0.000,4,0.000,0.051,3631,1034,2887
$GC,1399,2.87,83.4,40.1,17.3,123,1403,0.00,2.40,0.00,0.000,6,0.000,0.034,3631,2411,2886
$GC,1598,2.87,83.4,8.5,14.9,143,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,2411,2886
$STATE,1662,end climb,SURFACE_DEPTH_REACHED
$STATE,1662,begin surface coast
$FINISH,0.1,1.027754
$STATE,1686,end surface coast,CONTROL_FINISHED_OK
$STATE,1686,begin surface
$SM_CCo,1719,146.68,0.512,0,0,1597,400.08
$SM_GC,0.72,0.00,0.00,146.68,0.000,0.000,0.512,425,2560,1597,-11.84,0.28,400.08
$IRIDIUM_FIX,4726.11,-12248.15,091007,141454
$TT8_MAMPS,0.067496
$HUMID,1775
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,65.4,999.0
$24V_AH,24.1,40.782
$10V_AH,10.1,32.250
$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
$DEVICE_SECS,31.575,20.025,127.750,146.675,0.000,38.553,41.363,178.756,1.750,0.000,2424.000,31.279,312.920,840.900,369.565,322.640,491.741,0.000,564.868,0.000,307.612,0.000,7.140
$DEVICE_MAMPS,164.138,69.030,595.192,511.589,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,107.951,0.000,0.000,0.000,0.000,0.000,0.000,2424.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3309,156
$CFSIZE,260034560,241901568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,120611,4745.098,-12249.812,9,2.2,28,18.3