version: 66.04
glider: 116
mission: 16
dive: 39
start: 3 13 109 1 33 47
data:
$ID,116
$MISSION,16
$DIVE,39
$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,-52769.387
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,012732,4806.739,-12222.481,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.5
$GPS2,013244,4806.712,-12222.491,16,1.7,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.222,0.135
$KALMAN_X,3133.2,-40.9,100.9,-2565.4,64.2
$KALMAN_Y,41.9,115.6,133.0,-2361.3,60.5
$MHEAD_RNG_PITCHd_Wd,282.9,824,-17.5,-10.000
$D_GRID,107
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.64,-146.6,0.0,0.0,0,80,0.00,0.00,-60.25,0.000,2,0.000,0.000,136,2347,3578
$GC,83,-1.64,-146.6,3.5,-5.7,9,113,15.27,2.67,-8.48,0.000,4,0.195,0.085,2610,3755,3978
$GC,308,-1.64,-146.6,37.5,-12.2,36,317,0.00,2.50,0.00,0.000,6,0.000,0.039,2610,2339,3982
$GC,506,-1.64,-146.6,59.7,-11.2,55,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2339,3982
$GC,825,-1.64,-146.6,93.2,-10.3,85,829,0.00,2.67,0.00,0.000,4,0.000,0.074,2610,3749,3982
$GC,911,-1.64,-146.6,102.9,-11.4,92,916,0.00,2.47,0.00,0.000,6,0.000,0.040,2610,2347,3982
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,963,-0.42,0.0,108.0,10.7,96,1143,1.33,0.00,173.50,0.693,6,0.095,0.000,2878,1941,3378
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1147,1.64,146.6,113.5,0.0,114,1328,2.03,2.70,171.25,0.665,4,0.056,0.067,3334,546,2780
$GC,1440,1.64,146.6,91.3,11.7,139,1448,0.00,2.55,0.00,0.000,6,0.000,0.040,3334,1956,2779
$GC,1768,1.64,146.6,54.1,11.1,170,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1956,2779
$GC,2084,1.64,146.6,19.3,10.0,200,2091,0.00,2.62,0.00,0.000,4,0.000,0.062,3334,546,2779
$GC,2120,1.65,159.6,15.7,9.4,206,2141,0.00,2.50,13.32,0.616,6,0.000,0.041,3334,1955,2727
$GC,2208,1.71,206.9,7.5,7.8,221,2257,0.00,2.62,42.33,0.631,4,0.000,0.061,3334,3359,2534
$STATE,2279,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,0.3,1.020115
$STATE,2304,end surface coast,CONTROL_FINISHED_OK
$STATE,2304,begin surface
$SM_CCo,2328,69.97,0.624,0,0,2052,325.02
$SM_GC,1.02,0.00,0.00,69.97,0.000,0.000,0.624,131,2339,2052,-13.08,-0.34,325.02
$IRIDIUM_FIX,4748.51,-12224.57,070698,000017
$TT8_MAMPS,0.055224
$HUMID,1542
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,27.750
$10V_AH,10.0,9.751
$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,33.200,25.875,400.400,69.975,0.000,23.775,26.411,141.034,0.000,0.000,31.206,16.304,467.250,984.794,496.025,467.508,324.249,33.344,793.303,0.000,426.751,0.000,18.240,0.000
$DEVICE_MAMPS,194.818,85.137,693.368,623.571,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,155.322,0.000,0.000,0.000,0.000,0.000,6.977,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6477,236
$CAP_FILE_SIZE,65245,0
$CFSIZE,260034560,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,021521,4806.873,-12222.760,40,2.2,59,18.3