version: 66.04
glider: 5
mission: 6
dive: 9
start: 7 30 109 1 49 17
data:
$ID,5
$MISSION,6
$DIVE,9
$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,-98741.898
$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,2220
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$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
$GPS1,014206,4807.130,-12223.047,28,1.2,39,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-65.7
$GPS2,014902,4807.111,-12223.085,14,1.2,14,18.3
$SPEED_LIMITS,0.139,0.245
$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,134.7,232,-27.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.92,-44.4,0.0,0.0,0,126,0.00,0.00,-104.00,0.000,6,0.000,0.000,422,2237,3419
$GC,130,-1.98,-85.3,2.1,-3.1,19,156,10.82,2.60,-4.88,0.000,4,0.170,0.064,2362,812,3587
$GC,409,-1.72,-85.3,30.0,-12.1,60,416,0.32,2.50,0.00,0.000,6,0.123,0.051,2420,2206,3589
$GC,607,-1.63,-85.3,52.7,-11.6,78,612,0.10,2.55,0.00,0.000,4,0.121,0.056,2440,805,3589
$GC,640,-1.63,-85.3,57.0,-12.2,79,646,0.00,2.60,0.00,0.000,6,0.000,0.054,2440,2253,3589
$GC,956,-1.63,-85.3,93.3,-11.8,95,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2253,3589
$GC,1276,-2.29,-146.6,119.5,0.3,122,1281,0.60,2.50,0.00,0.000,4,0.038,0.068,2289,3635,3589
$GC,1535,-2.42,-146.6,119.4,0.0,144,1542,0.00,2.50,0.00,0.000,6,0.000,0.053,2288,2204,3588
$STATE,1550,end dive,NO_VERTICAL_VELOCITY
$STATE,1550,begin apogee
$GC,1557,-0.33,0.0,119.5,0.0,146,1634,2.05,0.00,67.35,0.785,6,0.085,0.000,2723,2096,3239
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1638,2.08,146.6,119.5,0.0,154,1761,2.40,2.58,113.75,0.764,4,0.068,0.058,3248,697,2640
$GC,1770,1.74,146.6,102.9,22.4,166,1777,0.38,2.58,0.00,0.000,6,0.115,0.054,3183,2110,2640
$GC,2088,1.64,146.6,38.3,19.5,185,2090,0.12,0.00,0.00,0.000,6,0.136,0.000,3162,2110,2640
$GC,2284,1.64,146.6,5.3,16.0,211,2290,0.00,2.55,0.00,0.000,4,0.000,0.061,3161,705,2639
$STATE,2294,end climb,SURFACE_DEPTH_REACHED
$STATE,2294,begin surface coast
$FINISH,-0.1,1.018325
$STATE,2323,end surface coast,CONTROL_FINISHED_OK
$STATE,2324,begin surface
$SM_CCo,2350,181.85,0.689,0,0,1199,500.17
$SM_GC,0.03,0.00,0.00,181.85,0.000,0.000,0.689,423,2242,1199,-10.93,0.62,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1852
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,24.0,1.246
$10V_AH,10.1,0.873
$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,29.050,25.900,181.100,181.850,0.000,75.516,50.774,134.105,2.250,0.000,0.000,14.110,373.078,1263.517,451.439,509.160,363.755,0.000,727.007,0.000,497.467,0.000,23.251,0.000
$DEVICE_MAMPS,170.274,72.865,785.408,688.766,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,145.566,165.760,375.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9709,218
$CAP_FILE_SIZE,35297,0
$CFSIZE,254472192,252411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,300709,023220,4806.954,-12223.009,12,1.8,12,18.3