version: 66.04
glider: 133
mission: 2
dive: 8
start: 8 26 109 0 45 30
data:
$ID,133
$MISSION,2
$DIVE,8
$D_SURF,3
$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,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51845
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-78345.141
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2760
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3370
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.515852
$PRESSURE_SLOPE,0.0001156489
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4.9000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$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,0.0043775016
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,003808,4807.321,-12223.251,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.3
$GPS2,004438,4807.341,-12223.314,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.188
$KALMAN_X,-751.1,-379.0,-47.3,497.5,6.9
$KALMAN_Y,1371.1,602.3,7.9,-2418.3,18.6
$MHEAD_RNG_PITCHd_Wd,132.4,742,-22.4,-10.000
$D_GRID,103
$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,16,-1.66,-97.3,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,2,0.000,0.000,398,1881,3414
$GC,77,-1.66,-97.3,3.6,-7.1,9,99,11.02,2.53,-5.88,0.000,4,0.146,0.051,2392,3289,3769
$GC,344,-1.66,-97.3,47.3,-15.1,69,350,0.00,2.40,0.00,0.000,6,0.000,0.034,2392,1902,3769
$GC,483,-1.66,-97.3,68.1,-14.8,100,490,0.00,2.45,0.00,0.000,4,0.000,0.041,2392,3280,3769
$GC,546,-1.66,-97.3,77.4,-14.4,113,552,0.00,2.40,0.00,0.000,6,0.000,0.035,2392,1899,3769
$GC,694,-1.66,-97.3,98.8,-14.5,144,701,0.00,2.53,0.00,0.000,4,0.000,0.058,2393,488,3768
$STATE,719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,719,begin apogee
$GC,729,-0.33,0.0,103.2,15.5,149,817,1.38,0.00,82.47,0.821,6,0.090,0.000,2676,1988,3370
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,817,begin climb
$GC,820,1.66,97.3,107.8,0.0,164,914,1.98,2.58,82.32,0.805,4,0.046,0.044,3120,3403,2973
$GC,994,1.70,121.1,98.4,8.4,198,1025,0.00,2.47,21.42,0.753,6,0.000,0.036,3120,1988,2875
$GC,1164,1.70,121.1,81.2,10.3,233,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1988,2875
$GC,1301,1.70,121.1,66.6,10.8,264,1308,0.00,2.50,0.00,0.000,4,0.000,0.058,3120,591,2874
$GC,1398,1.70,121.1,55.8,11.2,285,1405,0.00,2.42,0.00,0.000,6,0.000,0.031,3120,2015,2874
$GC,1544,1.73,138.0,42.0,8.8,316,1563,0.00,0.00,15.38,0.729,6,0.000,0.000,3120,2017,2807
$GC,1694,1.74,149.5,28.2,9.2,349,1715,0.08,2.65,11.25,0.693,4,0.075,0.057,3143,588,2760
$GC,1764,1.74,149.5,19.4,13.7,363,1771,0.00,2.45,0.00,0.000,6,0.000,0.032,3143,2001,2760
$GC,1837,1.75,155.3,11.1,9.6,379,1849,0.00,0.00,6.82,0.620,6,0.000,0.000,3143,2003,2735
$GC,1917,1.84,208.8,4.3,6.3,396,1962,0.05,2.62,37.00,0.746,4,0.093,0.057,3163,594,2517
$STATE,1988,end climb,SURFACE_DEPTH_REACHED
$STATE,1988,begin surface coast
$FINISH,-0.1,1.019754
$STATE,2099,end surface coast,CONTROL_FINISHED_OK
$STATE,2099,begin surface
$SM_CCo,2124,67.38,0.755,0,0,1942,350.04
$SM_GC,1.88,0.00,0.00,67.38,0.000,0.000,0.755,397,1921,1942,-10.87,0.59,350.04
$IRIDIUM_FIX,4751.72,-12340.51,201198,000025
$TT8_MAMPS,0.026845
$HUMID,2157
$INTERNAL_PRESSURE,9.15798
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.7,35.5
$24V_AH,23.4,2.871
$10V_AH,10.7,0.898
$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,26.750,34.875,256.675,67.375,0.000,22.322,34.972,208.992,1.000,0.000,0.000,14.317,652.685,240.991,345.495,934.443,420.746,33.331,765.441,0.000,932.486,0.000,10.245,0.000
$DEVICE_MAMPS,146.497,58.292,820.690,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.343,661.996,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19121,435
$CAP_FILE_SIZE,44323,0
$CFSIZE,260165632,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,012255,4807.237,-12223.325,7,1.7,12,18.3