version: 66.06
glider: 136
mission: 2
dive: 19
start: 3 26 110 6 46 50
data:
$ID,136
$MISSION,2
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,148
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,33
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51227
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$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,2
$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,-115537.05
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3195
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2433
$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,-1.8290597
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.3
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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,0.0043109441
$SEABIRD_T_H,0.00063083594
$SEABIRD_T_I,2.3949629e-05
$SEABIRD_T_J,2.5121064e-06
$SEABIRD_C_G,-10.048435
$SEABIRD_C_H,1.1130342
$SEABIRD_C_I,-0.0014419729
$SEABIRD_C_J,0.00020233419
$GPS1,061644,4807.781,-12224.270,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.69
$_SM_ANGLEo,-3.9
$GPS2,061644,4807.781,-12224.270,10,1.4,10,18.3
$SPEED_LIMITS,0.259,0.406
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,-0.329
$KALMAN_X,-1127.7,-619.4,-306.5,557.6,-31.4
$KALMAN_Y,2214.1,1183.9,603.7,-1209.4,34.1
$MHEAD_RNG_PITCHd_Wd,114.4,2135,-17.3,-14.949
$D_GRID,148
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.51,-293.3,0.0,0.0,0,24,0.00,0.00,-6.30,0.000,2,0.000,0.000,3214,314,2446,0,0,0,0,0,0
$GC,27,-1.51,-293.3,8.6,-0.0,1,62,1.58,0.25,-25.80,0.000,4,0.047,0.154,2864,475,3630,0,0,0,0,0,0
$GC,74,-1.51,-293.3,13.6,-15.8,9,81,0.00,2.83,0.00,0.000,6,0.000,0.043,2864,2037,3630,0,0,0,0,0,0
$GC,148,-1.51,-293.3,27.9,-19.2,22,155,0.00,2.95,0.00,0.000,4,0.000,0.054,2864,3635,3630,0,0,0,0,0,0
$GC,169,-1.51,-293.3,31.8,-19.0,25,175,0.00,2.85,0.00,0.000,6,0.000,0.040,2864,2050,3631,0,0,1,0,0,0
$GC,241,-1.51,-293.3,45.4,-18.6,38,248,0.00,3.03,0.00,0.000,4,0.000,0.065,2864,464,3630,0,0,0,0,0,0
$GC,272,-1.51,-293.3,50.9,-19.6,43,278,0.00,2.88,0.00,0.000,6,0.000,0.041,2864,2057,3630,0,0,0,0,0,0
$GC,410,-1.51,-293.3,76.1,-18.1,68,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2058,3631,0,0,0,0,0,0
$GC,555,-1.51,-293.3,101.7,-17.7,93,560,0.00,3.00,0.00,0.000,4,0.000,0.066,2864,464,3630,0,0,0,0,0,0
$GC,589,-1.51,-293.3,107.9,-18.1,99,595,0.00,2.88,0.00,0.000,6,0.000,0.044,2864,2051,3630,0,0,0,0,0,0
$STATE,612,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,612,begin apogee
$GC,617,-0.33,0.0,112.1,17.2,103,849,1.23,0.00,224.55,0.838,6,0.087,0.000,3113,1891,2432,0,0,0,0,0,0
$STATE,849,end apogee,CONTROL_FINISHED_OK
$STATE,851,begin climb
$GC,853,1.51,293.3,115.5,0.0,146,1103,1.92,3.10,236.32,0.805,4,0.062,0.072,3520,323,1235,0,0,0,0,0,0
$GC,1132,1.51,293.3,84.1,16.2,197,1138,0.00,2.85,0.00,0.000,6,0.000,0.041,3521,1899,1232,0,0,1,0,0,0
$GC,1269,1.51,293.3,62.8,15.3,222,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,1900,1232,0,0,0,0,0,0
$GC,1410,1.52,300.7,42.2,14.7,247,1423,0.00,3.05,6.40,0.617,4,0.000,0.069,3520,319,1209,0,0,0,0,0,0
$GC,1441,1.52,300.7,37.1,16.5,252,1448,0.00,2.85,0.00,0.000,6,0.000,0.041,3521,1890,1208,0,0,1,0,0,0
$GC,1515,1.52,300.7,26.1,15.0,265,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,1891,1208,0,0,0,0,0,0
$GC,1586,1.55,328.9,15.9,14.0,278,1615,0.00,0.00,26.05,0.724,6,0.000,0.000,3520,1891,1091,0,0,0,0,0,0
$GC,1682,1.72,462.3,4.0,10.4,295,1696,0.20,0.00,11.18,0.671,2,0.051,0.000,3576,1891,1044,0,0,0,0,0,0
$STATE,1696,end climb,SURFACE_DEPTH_REACHED
$STATE,1697,begin surface coast
$FINISH,0.4,1.004879
$STATE,1730,end surface coast,CONTROL_FINISHED_OK
$STATE,1730,begin surface
$SM_CCo,1752,7.20,0.093,0,0,1006,350.04
$SM_GC,3.08,0.00,0.00,7.20,0.000,0.000,0.093,676,2062,1006,-11.59,0.34,350.04
$IRIDIUM_FIX,4748.51,-12221.84,200699,050523
$TT8_MAMPS,0.03068
$HUMID,32.83
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,231.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.6,25.6
$24V_AH,23.3,2.513
$10V_AH,10.5,0.875
$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,17.925,33.075,504.500,7.200,0.000,0.000,0.000,0.000,3.250,0.000,0.000,398.290,263.711,375.904,681.096,94.631,0.000,807.291,0.000,714.669,0.000,24.852,0.000
$DEVICE_MAMPS,86.671,154.167,838.331,92.807,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.135,494.437,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,15995,303
$CAP_FILE_SIZE,38551,0
$CFSIZE,260165632,234340352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260310,071720,4807.332,-12223.864,33,1.8,33,18.3