version: 66.04
glider: 14
mission: 5
dive: 23
start: 7 31 108 15 26 13
data:
$ID,14
$MISSION,5
$DIVE,23
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,240
$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,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,677
$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,-649127.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2947
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.23282
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,152057,4805.903,-12221.648,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.6
$GPS2,152515,4805.888,-12221.632,15,2.0,15,18.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.216
$KALMAN_X,-4187.2,-74.2,-332.2,6562.9,-22.3
$KALMAN_Y,1180.2,-562.3,388.6,-3884.8,-450.6
$MHEAD_RNG_PITCHd_Wd,309.2,501,-17.8,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,133,0.00,0.00,-114.28,0.000,2,0.000,0.000,384,2250,3287
$GC,137,-1.38,-146.6,4.8,-12.2,20,158,12.10,0.00,-5.10,0.000,6,0.188,0.000,2483,2250,3547
$GC,227,-1.38,-146.6,19.0,-10.8,35,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2250,3549
$GC,304,-1.38,-146.6,27.6,-11.3,43,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2250,3550
$GC,495,-1.38,-146.6,49.5,-11.7,61,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2250,3552
$GC,692,-1.38,-146.6,71.3,-10.7,71,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2251,3553
$GC,1002,-1.38,-146.6,102.7,-9.7,87,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2252,3553
$STATE,1114,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1114,begin apogee
$GC,1123,-0.32,0.0,113.6,9.2,98,1250,1.12,0.00,117.50,0.706,6,0.115,0.000,2712,1742,2947
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1254,1.38,146.6,115.8,0.0,111,1380,1.75,2.60,114.57,0.685,4,0.083,0.081,3091,356,2349
$GC,1650,1.38,146.6,51.9,17.8,135,1654,0.00,2.40,0.00,0.000,6,0.000,0.058,3092,1758,2349
$GC,1984,1.43,176.4,3.9,8.6,176,2014,0.00,2.58,24.08,0.623,4,0.000,0.074,3091,350,2226
$STATE,2024,end climb,SURFACE_DEPTH_REACHED
$STATE,2024,begin surface coast
$FINISH,2.2,1.019635
$STATE,2183,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2212,280.05,0.617,0,0,187,677.03
$SM_GC,0.95,0.00,0.00,280.05,0.000,0.000,0.617,377,2245,187,-11.10,-0.17,677.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1851
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,32.4
$24V_AH,23.7,3.037
$10V_AH,10.1,1.081
$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,27.250,11.775,256.150,280.050,0.000,37.763,26.855,88.303,1.500,0.000,0.000,17.426,343.068,1069.805,592.449,496.775,269.624,33.332,872.979,0.000,489.646,0.000,14.388,0.000
$DEVICE_MAMPS,187.915,80.535,706.407,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,143.759,152.485,363.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9659,211
$CAP_FILE_SIZE,28313,0
$CFSIZE,254472192,252403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,310708,160859,4805.989,-12221.605,11,3.4,30,18.3