version: 66.03
glider: 101
mission: 4
dive: 6
start: 3 13 108 1 22 17
data:
$ID,101
$MISSION,4
$DIVE,6
$D_SURF,5
$D_FLARE,3
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,1800
$USE_BATHY,-4
$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,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,655
$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,-689552.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1907
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2971
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.650064
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,011702,4806.603,-12222.276,11,1.5,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.1
$GPS2,012115,4806.587,-12222.255,11,1.7,11,18.3
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.166
$KALMAN_X,931.3,487.5,211.4,-1603.2,86.9
$KALMAN_Y,-1001.7,-515.9,-234.6,1233.6,-72.0
$MHEAD_RNG_PITCHd_Wd,291.4,1196,-17.9,-10.000
$D_GRID,108
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.81,-146.6,0.0,0.0,0,146,0.00,0.00,-117.18,0.000,2,0.000,0.000,34,2116,2619
$GC,151,-1.81,-146.6,3.6,-7.9,22,202,11.25,2.67,-30.30,0.000,4,0.146,0.088,2090,3501,3569
$GC,277,-1.81,-146.6,14.1,-11.0,44,284,0.00,2.50,0.00,0.000,6,0.000,0.048,2090,2094,3569
$GC,352,-1.81,-146.6,23.0,-12.4,55,356,0.00,2.67,0.00,0.000,4,0.000,0.073,2090,3509,3569
$GC,430,-1.81,-146.6,33.9,-13.6,61,436,0.00,2.53,0.00,0.000,6,0.000,0.048,2090,2090,3569
$GC,626,-1.81,-146.6,58.4,-12.3,77,631,0.00,2.67,0.00,0.000,4,0.000,0.073,2090,3506,3569
$GC,767,-1.81,-146.6,76.5,-12.1,83,771,0.00,2.53,0.00,0.000,6,0.000,0.048,2090,2092,3569
$STATE,1051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1051,begin apogee
$GC,1059,-0.45,0.0,109.0,11.2,100,1180,1.48,0.00,116.05,0.811,6,0.108,0.000,2382,1902,2971
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1184,1.81,146.6,113.0,0.0,112,1312,2.35,2.72,114.85,0.782,4,0.074,0.077,2881,514,2373
$GC,1540,1.81,146.6,66.8,16.5,135,1544,0.00,2.53,0.00,0.000,6,0.000,0.046,2881,1912,2373
$GC,1863,1.81,146.6,20.1,13.0,160,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1912,2373
$STATE,1988,end climb,SURFACE_DEPTH_REACHED
$STATE,1988,begin surface coast
$FINISH,4.9,1.020768
$STATE,2051,end surface coast,CONTROL_FINISHED_OK
$STATE,2052,begin surface
$SM_CCo,2079,295.83,0.695,4,0,299,655.20
$SM_GC,0.86,0.00,0.00,295.83,0.000,0.000,0.695,30,2109,299,-11.32,0.25,655.20
$IRIDIUM_FIX,4748.51,-12220.12,070697,000053
$TT8_MAMPS,0.026078
$HUMID,1736
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,5.4
$24V_AH,23.5,1.129
$10V_AH,10.1,0.799
$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,29.100,21.475,230.900,295.825,0.000,30.128,29.395,96.608,0.250,0.000,0.000,11.482,324.803,957.078,627.156,488.460,275.622,33.318,920.824,0.000,489.480,0.000,2.533
$DEVICE_MAMPS,146.497,88.205,811.486,694.902,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,131.941,135.138,332.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9688,193
$CAP_FILE_SIZE,29237,0
$CFSIZE,260165632,258007040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,130308,020303,4806.790,-12222.393,11,1.4,11,18.3