version: 66.06
glider: 135
mission: 2
dive: 15
start: 3 26 110 5 11 2
data:
$ID,135
$MISSION,2
$DIVE,15
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$NAV_MODE,1
$FERRY_MAX,45
$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,4808
$TGT_DEFAULT_LON,12223
$TGT_AUTO_DEFAULT,0
$SM_CC,340
$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,-11001.617
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,297
$PITCH_MAX,3602
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3875
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,360
$VBD_MAX,3894
$C_VBD,2025
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.0481406e-08
$PRESSURE_SLOPE,0.0001160407
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043533645
$SEABIRD_T_H,0.00063353725
$SEABIRD_T_I,2.4853985e-05
$SEABIRD_T_J,2.7377309e-06
$SEABIRD_C_G,-10.094657
$SEABIRD_C_H,1.1542023
$SEABIRD_C_I,-0.0011480595
$SEABIRD_C_J,0.00017689132
$GPS1,050325,4807.229,-12223.144,11,1.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.6
$GPS2,051004,4807.282,-12223.139,10,2.1,29,18.3
$SPEED_LIMITS,0.119,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.320
$KALMAN_X,-2182.1,-461.9,-65.6,3018.6,-133.7
$KALMAN_Y,3979.6,874.7,0.9,-5900.7,159.9
$MHEAD_RNG_PITCHd_Wd,137.4,550,-11.6,-10.000
$D_GRID,105
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-293.3,0.0,0.0,0,66,0.00,0.00,-49.40,0.000,2,0.000,0.000,293,2050,2026,0,0,0,0,0,0
$GC,69,-1.19,-293.3,4.0,-8.9,9,115,11.55,2.85,-25.25,0.000,4,0.158,0.070,2296,3620,3222,0,0,0,0,0,0
$GC,122,-1.19,-293.3,11.8,-11.5,18,129,0.00,2.78,0.00,0.000,6,0.000,0.046,2296,2053,3223,0,0,0,0,0,0
$GC,194,-1.19,-293.3,21.5,-13.3,31,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2050,3223,0,0,0,0,0,0
$GC,267,-1.19,-293.3,30.3,-11.6,44,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2050,3223,0,0,0,0,0,0
$GC,339,-1.19,-293.3,38.9,-12.4,57,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2050,3223,0,0,0,0,0,0
$GC,411,-1.19,-293.3,47.8,-12.1,70,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2050,3223,0,0,0,0,0,0
$GC,551,-1.19,-293.3,64.9,-12.4,95,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2050,3223,0,0,0,0,0,0
$GC,687,-1.19,-293.3,81.9,-12.3,120,694,0.00,2.85,0.00,0.000,4,0.000,0.060,2296,3620,3223,0,0,0,0,0,0
$GC,720,-1.19,-293.3,85.5,-12.5,125,726,0.00,2.75,0.00,0.000,6,0.000,0.047,2296,2041,3223,0,0,0,0,0,0
$GC,858,-1.19,-293.3,102.8,-11.7,150,866,0.00,2.92,0.00,0.000,4,0.000,0.062,2296,470,3223,0,0,0,0,0,0
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,888,-0.36,0.0,105.1,11.9,153,1129,0.90,0.00,235.32,0.686,6,0.085,0.000,2479,2050,2025,0,0,0,0,0,0
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1133,1.19,293.3,116.1,0.0,198,1387,1.62,2.90,239.45,0.658,4,0.067,0.057,2821,3626,828,0,0,0,0,0,0
$GC,1458,1.19,293.3,86.0,11.8,257,1464,0.00,2.75,0.00,0.000,6,0.000,0.046,2821,2053,826,0,0,0,0,0,0
$GC,1599,1.19,293.3,68.7,12.3,282,1607,0.00,2.97,0.00,0.000,4,0.000,0.064,2821,470,824,0,0,0,0,0,0
$GC,1653,1.19,293.3,61.9,12.6,291,1659,0.00,2.83,0.00,0.000,6,0.000,0.036,2821,2061,823,0,0,0,0,0,0
$GC,1792,1.19,293.3,45.0,11.7,316,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2064,823,0,0,0,0,0,0
$GC,1931,1.19,293.3,28.5,11.7,341,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2064,822,0,0,0,0,0,0
$GC,2004,1.19,293.3,20.1,11.7,354,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2064,823,0,0,0,0,0,0
$GC,2078,1.24,330.6,12.3,9.1,367,2118,0.00,3.03,31.98,0.602,4,0.000,0.064,2821,461,677,0,0,0,0,0,0
$GC,2175,1.37,440.4,4.0,7.5,384,2194,0.20,2.85,11.00,0.087,2,0.056,0.038,2869,2048,664,0,0,0,0,1,0
$STATE,2195,end climb,SURFACE_DEPTH_REACHED
$STATE,2195,begin surface coast
$FINISH,0.4,1.018925
$STATE,2234,end surface coast,CONTROL_FINISHED_OK
$STATE,2234,begin surface
$SM_CCo,2254,12.62,0.181,1,0,638,340.23
$SM_GC,2.65,0.00,0.00,12.62,0.000,0.000,0.181,293,2048,638,-10.45,-0.06,340.23
$IRIDIUM_FIX,4751.72,-12141.52,200699,040438
$TT8_MAMPS,0.028379
$HUMID,33.06
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.5,1.819
$10V_AH,10.4,0.768
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.900,34.300,517.750,12.625,0.000,30.184,27.666,206.666,1.750,0.000,31.339,512.039,382.478,431.517,896.144,466.848,33.333,956.879,0.000,946.725,0.000,13.117,0.000
$DEVICE_MAMPS,158.002,69.797,685.698,181.012,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.496,655.744,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,19183,394
$CAP_FILE_SIZE,51328,0
$CFSIZE,260165632,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260310,055003,4807.038,-12222.949,11,3.9,30,18.3