version: 66.04
glider: 116
mission: 16
dive: 38
start: 3 13 109 0 44 55
data:
$ID,116
$MISSION,16
$DIVE,38
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51242
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52752.453
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2975
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3378
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.077300362
$PRESSURE_SLOPE,0.0001158926
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,003755,4806.561,-12222.177,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.8
$GPS2,004353,4806.534,-12222.180,11,2.0,26,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.230,0.122
$KALMAN_X,3047.1,-38.0,78.2,-2074.6,64.9
$KALMAN_Y,22.3,108.0,87.8,-2620.5,104.3
$MHEAD_RNG_PITCHd_Wd,279.7,1331,-17.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-146.6,0.0,0.0,0,79,0.00,0.00,-60.83,0.000,2,0.000,0.000,133,2352,3576
$GC,82,-1.64,-146.6,3.5,-6.5,9,112,15.32,2.72,-8.80,0.000,4,0.195,0.085,2610,3752,3979
$GC,249,-1.64,-146.6,27.0,-12.3,32,253,0.00,2.50,0.00,0.000,6,0.000,0.040,2610,2340,3984
$GC,446,-1.64,-146.6,48.5,-10.6,50,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2340,3985
$GC,637,-1.64,-146.6,68.4,-10.3,68,641,0.00,2.70,0.00,0.000,4,0.000,0.074,2610,3755,3985
$GC,675,-1.64,-146.6,72.8,-11.2,71,680,0.00,2.47,0.00,0.000,6,0.000,0.040,2610,2351,3986
$GC,1000,-1.64,-146.6,106.9,-10.5,101,1005,0.00,2.67,0.00,0.000,4,0.000,0.075,2610,3755,3985
$STATE,1008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1016,-0.42,0.0,108.2,10.7,101,1197,1.33,0.00,175.82,0.696,6,0.096,0.000,2878,1951,3379
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1201,1.64,146.6,114.4,0.0,119,1384,2.03,2.70,171.35,0.665,4,0.054,0.065,3334,552,2779
$GC,1585,1.64,146.6,81.4,12.7,152,1593,0.00,2.53,0.00,0.000,6,0.000,0.040,3334,1953,2748
$GC,1910,1.64,146.6,45.9,10.9,183,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1953,2750
$GC,2102,1.64,146.6,25.3,10.6,201,2106,0.00,2.62,0.00,0.000,4,0.000,0.062,3334,546,2751
$GC,2133,1.64,146.6,21.6,10.7,203,2141,0.00,2.53,0.00,0.000,6,0.000,0.040,3334,1948,2787
$GC,2341,1.73,221.0,2.2,6.6,239,2349,0.00,0.00,6.45,0.551,2,0.000,0.000,3334,1948,2762
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,0.2,1.021279
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2408,103.47,0.628,0,0,2053,325.02
$SM_GC,1.18,0.00,0.00,103.47,0.000,0.000,0.628,136,2347,2053,-13.06,-0.08,325.02
$IRIDIUM_FIX,4748.51,-12220.12,060698,232353
$TT8_MAMPS,0.082836
$HUMID,1532
$INTERNAL_PRESSURE,10.5473
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,27.643
$10V_AH,10.0,9.728
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.200,27.450,353.625,103.475,0.000,24.903,29.565,174.883,0.000,0.000,31.773,26.652,506.838,1044.257,491.181,500.648,355.453,33.374,790.450,0.000,448.290,0.000,17.407,0.000
$DEVICE_MAMPS,194.818,85.137,696.436,628.173,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,163.289,0.000,0.000,0.000,0.000,0.000,36.014,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6466,246
$CAP_FILE_SIZE,68435,0
$CFSIZE,260034560,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,012732,4806.739,-12222.481,10,1.8,10,18.3