version: 66.02
glider: 104
mission: 2
dive: 10
start: 1 10 108 4 53 31
data:
$ID,104
$MISSION,2
$DIVE,10
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,75
$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,100
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33681.855
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,3322
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-17.435352
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$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,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,044447,4808.332,-12224.099,8,2.6,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-69.7
$GPS2,045239,4808.321,-12224.233,13,1.8,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.176
$KALMAN_X,-2359.9,-484.6,26.0,2137.5,-462.9
$KALMAN_Y,3537.7,895.5,-58.8,-4007.5,382.2
$MHEAD_RNG_PITCHd_Wd,117.8,2883,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.17,-146.6,0.0,0.0,0,88,0.00,0.00,-61.03,0.000,2,0.000,0.000,43,2047,2359
$GC,91,-1.17,-146.6,3.0,-4.8,11,150,12.20,2.60,-38.65,0.000,4,0.158,0.077,2185,657,3923
$GC,309,-1.17,-146.6,24.1,-8.4,45,313,0.00,2.45,0.00,0.000,6,0.000,0.042,2185,2056,3923
$GC,507,-1.17,-146.6,40.1,-7.8,63,511,0.00,2.53,0.00,0.000,4,0.000,0.058,2185,3456,3923
$GC,550,-1.17,-146.6,43.9,-8.4,66,557,0.00,2.47,0.00,0.000,6,0.000,0.042,2186,2053,3923
$GC,756,-1.17,-146.6,59.8,-7.7,80,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2053,3922
$GC,1065,-1.17,-146.6,83.5,-7.6,95,1069,0.00,2.53,0.00,0.000,4,0.000,0.056,2185,3456,3922
$GC,1165,-1.17,-146.6,91.3,-7.6,99,1172,0.00,2.47,0.00,0.000,6,0.000,0.041,2186,2043,3922
$STATE,1346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1346,begin apogee
$GC,1352,-0.33,0.0,105.0,7.2,111,1472,0.90,0.00,115.80,0.741,6,0.078,0.000,2374,2043,3322
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1473,begin climb
$GC,1475,1.17,146.6,106.9,0.0,123,1598,1.50,2.62,114.97,0.706,4,0.051,0.066,2705,643,2724
$GC,1626,1.17,146.6,92.8,14.9,134,1630,0.00,2.47,0.00,0.000,6,0.000,0.041,2705,2050,2723
$GC,1947,1.17,146.6,47.7,14.6,150,1951,0.00,2.60,0.00,0.000,4,0.000,0.064,2705,643,2723
$GC,2010,1.17,146.6,38.4,14.7,155,2014,0.00,2.47,0.00,0.000,6,0.000,0.041,2705,2061,2723
$GC,2212,1.17,146.6,12.7,11.4,178,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2060,2723
$GC,2287,1.46,387.7,9.3,-0.8,191,2479,0.25,0.00,185.23,0.643,6,0.043,0.000,2771,2060,1740
$GC,2550,1.65,539.3,2.8,2.5,236,2603,0.15,0.00,50.20,0.615,2,0.048,0.000,2818,2060,1458
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,-0.6,1.004587
$STATE,2712,end surface coast,CONTROL_FINISHED_OK
$STATE,2712,begin surface
$SM_CCo,2734,47.83,0.613,0,0,1078,550.21
$SM_GC,0.97,0.00,0.00,47.83,0.000,0.000,0.613,45,2061,1078,-11.06,0.28,550.21
$IRIDIUM_FIX,4751.72,-12226.29,100108,080829
$TT8_MAMPS,0.026845
$HUMID,1638
$INTERNAL_PRESSURE,8.733
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.5,34.0
$24V_AH,23.4,1.394
$10V_AH,10.1,0.531
$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,27.525,25.225,466.200,47.825,0.000,79.500,71.727,165.807,1.750,0.000,0.000,15.248,388.304,1324.605,467.208,657.863,432.752,33.344,863.198,0.000,656.128,0.000,11.365
$DEVICE_MAMPS,158.002,77.467,740.922,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.374,177.100,512.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12773,264
$CFSIZE,260165632,258027520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100108,054108,4808.115,-12223.994,37,1.4,37,18.3