version: 66.03
glider: 119
mission: 5
dive: 5
start: 9 16 108 0 6 48
data:
$ID,119
$MISSION,5
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-209825
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$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,125
$ALTIM_PING_DELTA,25
$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
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,000207,4658.019,-12500.028,11,1.8,29,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.3
$GPS2,000557,4657.995,-12500.070,15,1.6,15,18.4
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,-0.038
$KALMAN_X,869.8,360.7,24.7,-3848.3,184.5
$KALMAN_Y,-1091.0,-710.4,-25.9,821.8,248.7
$MHEAD_RNG_PITCHd_Wd,243.4,227292,-18.1,-10.000
$D_GRID,300
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.00,-146.6,0.0,0.0,0,89,0.00,0.00,-67.05,0.000,2,0.000,0.000,861,2194,2804
$GC,92,-1.00,-146.6,3.8,-5.8,7,125,11.80,2.45,-12.50,0.000,4,0.150,0.097,2572,3608,3437
$GC,283,-1.00,-146.6,45.8,-17.3,26,289,0.00,2.33,0.00,0.000,6,0.000,0.068,2572,2194,3437
$GC,626,-1.00,-146.6,93.3,-12.7,78,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2195,3437
$GC,945,-1.00,-146.6,135.6,-12.9,108,949,0.00,2.42,0.00,0.000,4,0.000,0.091,2572,3605,3438
$GC,1044,-1.00,-146.6,149.0,-13.7,116,1051,0.00,2.35,0.00,0.000,6,0.000,0.073,2572,2207,3437
$GC,1370,-1.00,-146.6,190.2,-12.1,133,1375,0.00,2.42,0.00,0.000,4,0.000,0.094,2572,781,3437
$GC,1448,-1.00,-146.6,200.1,-13.0,136,1455,0.00,2.33,0.00,0.000,6,0.000,0.071,2572,2202,3437
$GC,1764,-1.00,-146.6,239.9,-11.7,152,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,3437
$GC,2076,-1.00,-146.6,276.5,-11.9,167,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,3437
$STATE,2257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2257,begin apogee
$GC,2261,-0.23,0.0,300.0,12.6,176,2381,1.02,0.00,116.28,0.986,6,0.083,0.000,2744,2202,2837
$STATE,2382,end apogee,CONTROL_FINISHED_OK
$STATE,2382,begin climb
$GC,2384,1.00,146.6,304.2,0.0,178,2510,1.60,2.60,118.50,0.954,4,0.050,0.097,3020,3604,2239
$GC,2543,1.00,146.6,298.5,11.6,180,2547,0.00,2.45,0.00,0.000,6,0.000,0.077,3019,2199,2238
$GC,2870,1.00,146.6,260.0,11.0,196,2874,0.00,2.50,0.00,0.000,4,0.000,0.098,3019,3609,2238
$GC,2941,1.00,146.6,250.8,13.0,199,2945,0.00,2.38,0.00,0.000,6,0.000,0.079,3019,2200,2238
$GC,3263,1.00,146.6,210.4,13.5,215,3266,0.00,2.45,0.00,0.000,4,0.000,0.097,3020,3605,2237
$GC,3336,1.00,146.6,200.2,14.4,218,3340,0.00,2.38,0.00,0.000,6,0.000,0.079,3019,2195,2237
$GC,3656,1.00,146.6,162.4,11.6,234,3660,0.00,2.45,0.00,0.000,4,0.000,0.097,3019,3605,2237
$GC,3912,1.00,146.6,131.3,11.4,252,3920,0.00,2.40,0.00,0.000,6,0.000,0.080,3020,2196,2236
$GC,4239,1.04,175.1,102.2,8.7,283,4271,0.00,2.50,22.62,0.858,4,0.000,0.097,3019,3606,2123
$GC,4525,1.14,259.4,73.6,6.2,316,4597,0.15,2.35,65.18,0.845,6,0.067,0.079,3048,2200,1779
$GC,4932,1.14,259.4,22.6,14.0,378,4936,0.00,2.45,0.00,0.000,4,0.000,0.094,3048,3605,1779
$STATE,5183,end climb,SURFACE_DEPTH_REACHED
$STATE,5183,begin surface coast
$FINISH,0.1,1.023501
$STATE,5217,end surface coast,CONTROL_FINISHED_OK
$STATE,5217,begin surface
$SM_CCo,5240,67.95,0.779,0,0,1205,400.08
$SM_GC,1.12,0.00,0.00,67.95,0.000,0.000,0.779,861,2192,1205,-8.92,-0.23,400.08
$IRIDIUM_FIX,4641.78,-12501.85,101297,222214
$TT8_MAMPS,0.027612
$HUMID,2122
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.5,66.9
$24V_AH,23.7,34.980
$10V_AH,10.6,22.427
$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,26.600,43.575,322.575,67.950,0.000,24.281,29.118,93.570,2.250,0.000,0.000,16.605,711.666,3134.807,466.390,999.147,238.011,33.351,923.768,0.000,986.719,0.000,18.000
$DEVICE_MAMPS,150.332,98.176,986.362,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,271.899,309.305,668.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19156,403
$CAP_FILE_SIZE,50134,0
$CFSIZE,260165632,258940928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160908,013637,4657.992,-12501.093,43,1.5,44,18.4