version: 66.04
glider: 5
mission: 6
dive: 5
start: 7 29 109 22 25 23
data:
$ID,5
$MISSION,6
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,122
$TGT_DEFAULT_LON,48
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-98644.398
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2251
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.153585
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,222125,4807.971,-12223.192,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-70.5
$GPS2,222438,4807.980,-12223.209,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$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,153.6,1834,-18.1,-10.000
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,127,0.00,0.00,-108.75,0.000,2,0.000,0.000,424,2242,3783
$GC,131,-1.44,-146.6,3.4,-9.5,19,151,11.25,2.50,-1.27,0.000,4,0.162,0.064,2483,839,3837
$GC,320,-1.24,-146.6,26.2,-10.7,47,327,0.22,2.50,0.00,0.000,6,0.101,0.051,2529,2258,3838
$GC,519,-1.17,-146.6,46.2,-10.3,66,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2258,3838
$GC,705,-1.17,-146.6,66.8,-11.0,77,709,0.00,2.55,0.00,0.000,4,0.000,0.062,2529,842,3838
$GC,738,-1.17,-146.6,70.4,-11.4,78,745,0.00,2.47,0.00,0.000,6,0.000,0.056,2529,2233,3838
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1060,-0.33,0.0,103.1,10.2,95,1177,0.88,0.00,113.22,0.729,6,0.072,0.000,2722,2054,3239
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1181,1.44,146.6,106.2,0.0,107,1303,1.73,2.50,112.18,0.705,4,0.053,0.059,3112,710,2641
$GC,1365,1.11,146.6,84.4,16.5,119,1370,0.35,2.53,0.00,0.000,6,0.099,0.056,3044,2104,2641
$GC,1683,1.05,146.6,47.9,11.2,134,1687,0.00,2.58,0.00,0.000,4,0.000,0.071,3044,3511,2639
$GC,1712,1.01,146.6,44.5,11.7,136,1717,0.12,2.53,0.00,0.000,6,0.101,0.054,3021,2109,2638
$GC,1911,1.02,156.8,25.2,9.5,154,1921,0.00,0.00,8.80,0.622,6,0.000,0.000,3021,2108,2599
$GC,2122,1.13,186.7,5.9,8.6,186,2148,0.12,2.67,20.10,0.676,4,0.054,0.068,3056,3508,2478
$STATE,2152,end climb,SURFACE_DEPTH_REACHED
$STATE,2152,begin surface coast
$FINISH,0.4,1.017879
$STATE,2204,end surface coast,CONTROL_FINISHED_OK
$STATE,2204,begin surface
$SM_CCo,2229,156.07,0.673,0,0,1200,500.17
$SM_GC,0.18,0.00,0.00,156.07,0.000,0.000,0.673,426,2226,1200,-10.92,-0.71,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1879
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.8,36.9
$24V_AH,24.1,0.876
$10V_AH,10.1,0.739
$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,26.250,25.375,254.300,156.075,0.000,0.000,0.000,0.000,1.000,0.000,0.000,12.650,353.347,1135.726,462.551,454.002,76.099,0.000,732.670,0.000,450.953,0.000,8.690,0.000
$DEVICE_MAMPS,161.837,71.331,728.650,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,132.403,149.657,344.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9679,200
$CAP_FILE_SIZE,49328,0
$CFSIZE,254472192,252489728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290709,230602,4807.742,-12223.168,15,1.5,15,18.3