version: 66.02
glider: 118
mission: 6
dive: 523
start: 10 9 107 10 9 27
data:
$ID,118
$MISSION,6
$DIVE,523
$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,-17876.166
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,095133,4745.139,-12249.813,12,1.5,12,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.3
$GPS2,100909,4745.070,-12249.820,13,1.9,13,18.3
$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,353.6,30,-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,-71.05,0.000,2,0.000,0.000,427,2553,3255
$GC,110,-2.86,-78.5,2.2,-5.3,12,141,11.00,2.58,-9.75,0.000,4,0.163,0.058,2373,1148,3553
$GC,168,-2.86,-78.5,7.2,-12.0,21,174,0.00,2.42,0.00,0.000,6,0.000,0.034,2373,2550,3554
$GC,242,-2.86,-78.5,15.5,-9.6,32,248,0.00,2.55,0.00,0.000,4,0.000,0.069,2373,3927,3554
$GC,263,-2.86,-78.5,17.7,-10.4,35,269,0.00,2.38,0.00,0.000,6,0.000,0.032,2374,2529,3554
$GC,341,-2.86,-78.5,25.5,-9.4,43,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2529,3554
$GC,536,-2.86,-78.5,42.8,-9.4,58,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2529,3555
$GC,736,-2.86,-78.5,62.1,-9.3,74,740,0.00,2.60,0.00,0.000,4,0.000,0.067,2373,3933,3555
$GC,902,-2.86,-78.5,79.1,-10.0,86,907,0.00,2.38,0.00,0.000,6,0.000,0.032,2373,2553,3555
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1040,-0.50,0.0,90.6,9.0,96,1107,2.55,0.00,61.30,0.597,6,0.113,0.000,2885,2412,3229
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1112,2.86,78.5,92.5,0.0,102,1185,3.33,2.50,59.40,0.583,4,0.054,0.050,3630,1033,2906
$GC,1292,2.86,78.5,67.7,17.5,116,1297,0.00,2.42,0.00,0.000,6,0.000,0.034,3630,2409,2905
$GC,1496,2.86,78.5,34.6,16.1,132,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,2409,2905
$GC,1689,2.86,78.5,5.6,13.1,154,1695,0.00,2.47,0.00,0.000,4,0.000,0.051,3630,1028,2904
$STATE,1719,end climb,SURFACE_DEPTH_REACHED
$STATE,1719,begin surface coast
$FINISH,0.4,1.027756
$STATE,1733,end surface coast,CONTROL_FINISHED_OK
$STATE,1734,begin surface
$SM_CCo,1772,149.77,0.514,0,0,1598,400.08
$SM_GC,0.65,0.00,0.00,149.77,0.000,0.000,0.514,427,2554,1598,-11.83,0.11,400.08
$IRIDIUM_FIX,4729.30,-12248.15,091007,141443
$TT8_MAMPS,0.067496
$HUMID,1774
$INTERNAL_PRESSURE,9.33976
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.2,999.0
$24V_AH,24.1,40.656
$10V_AH,10.1,32.137
$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,31.450,25.200,120.700,149.775,0.000,195.607,252.359,178.892,1.250,0.000,3069.000,13.292,321.722,1114.254,366.735,312.579,872.071,0.000,573.289,0.000,305.776,0.000,7.132
$DEVICE_MAMPS,163.371,69.030,597.493,513.890,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,93.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,111.422,0.000,0.000,0.000,0.000,0.000,0.000,3069.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,19.122,51.000
$DATA_FILE_SIZE,3297,161
$CFSIZE,260034560,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091007,104301,4745.203,-12249.750,44,1.5,44,18.3