version: 66.04
glider: 5
mission: 6
dive: 10
start: 7 30 109 2 46 56
data:
$ID,5
$MISSION,6
$DIVE,10
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,-98757.672
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2795
$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,2230
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,21
$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,10
$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
$GPS1,023220,4806.954,-12223.009,12,1.8,12,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-69.3
$GPS2,024638,4806.950,-12223.098,15,1.8,15,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,124.1,2223,-14.8,-8.000
$D_GRID,150
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.22,-146.6,0.0,0.0,0,132,0.00,0.00,-114.07,0.000,6,0.000,0.000,423,2242,3837
$GC,135,-1.22,-146.6,4.1,-8.7,20,155,11.50,2.55,0.00,0.000,4,0.162,0.052,2521,831,3838
$GC,327,-1.10,-146.6,34.0,-11.2,42,334,0.15,2.53,0.00,0.000,6,0.097,0.054,2552,2235,3838
$GC,535,-1.03,-146.6,53.8,-9.0,60,540,0.00,2.55,0.00,0.000,4,0.000,0.067,2552,3641,3839
$GC,603,-0.95,-146.6,60.4,-10.3,63,609,0.17,2.45,0.00,0.000,6,0.091,0.048,2586,2263,3839
$GC,928,-1.11,-146.6,82.3,-6.8,79,933,0.15,2.55,0.00,0.000,4,0.047,0.055,2542,818,3839
$GC,991,-1.11,-146.6,87.6,-8.8,82,995,0.00,2.53,0.00,0.000,6,0.000,0.054,2542,2224,3839
$STATE,1246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1246,begin apogee
$GC,1254,-0.33,0.0,110.8,9.0,100,1372,0.82,0.00,114.57,0.779,6,0.074,0.000,2721,2091,3240
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1376,1.22,146.6,113.7,0.0,112,1498,1.52,2.58,113.40,0.757,4,0.056,0.056,3058,714,2641
$GC,1538,0.90,146.6,97.8,14.5,126,1543,0.35,2.55,0.00,0.000,6,0.088,0.050,2990,2125,2641
$GC,1860,0.90,146.6,69.2,8.4,142,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2126,2640
$GC,2171,0.92,153.5,44.5,7.7,160,2183,0.00,2.62,6.90,0.631,4,0.000,0.064,2990,3528,2612
$GC,2208,0.92,154.2,41.6,8.0,163,2212,0.00,2.53,0.00,0.000,6,0.000,0.048,2990,2116,2612
$GC,2406,0.94,170.6,26.6,7.4,181,2429,0.00,2.58,14.50,0.712,4,0.000,0.058,2990,712,2543
$GC,2446,0.94,170.6,23.4,8.1,184,2452,0.00,2.53,0.00,0.000,6,0.000,0.053,2990,2110,2542
$GC,2655,1.05,204.0,8.5,6.8,217,2692,0.15,2.67,26.38,0.732,4,0.048,0.064,3033,3530,2406
$GC,2700,1.00,204.0,4.6,8.7,224,2707,0.00,2.55,0.00,0.000,6,0.000,0.050,3033,2113,2406
$STATE,2711,end climb,SURFACE_DEPTH_REACHED
$STATE,2711,begin surface coast
$FINISH,0.6,1.019431
$STATE,2757,end surface coast,CONTROL_FINISHED_OK
$STATE,2757,begin surface
$SM_CCo,2781,149.77,0.695,0,0,1200,500.17
$SM_GC,-0.01,0.00,0.00,149.77,0.000,0.000,0.695,425,2254,1200,-10.90,0.68,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1808
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.1,29.1
$24V_AH,24.0,1.362
$10V_AH,10.1,0.913
$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,26.350,36.175,275.750,149.775,0.000,153.291,143.531,273.677,1.500,0.000,0.000,15.138,394.210,1672.031,484.464,559.356,694.299,0.000,807.701,0.000,544.513,0.000,22.436,0.000
$DEVICE_MAMPS,161.837,66.729,778.505,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.236,173.188,403.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12820,234
$CAP_FILE_SIZE,45580,0
$CFSIZE,254472192,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,300709,033638,4806.712,-12222.889,12,1.7,13,18.3