version: 66.04
glider: 138
mission: 2
dive: 17
start: 8 26 109 18 26 56
data:
$ID,138
$MISSION,2
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$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,300
$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,51965
$NAV_MODE,0
$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,48.099998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,730.99396
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1572257.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3690
$C_PITCH,2548
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-2.7222424
$PRESSURE_SLOPE,0.0001161078
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043608202
$SEABIRD_T_H,0.00063602388
$SEABIRD_T_I,2.5671787e-05
$SEABIRD_T_J,2.8460815e-06
$SEABIRD_C_G,-9.9041576
$SEABIRD_C_H,1.1168371
$SEABIRD_C_I,-0.0010134744
$SEABIRD_C_J,0.00017098176
$GPS1,004935,4808.226,-12223.172,251,99.0,271,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-55.7
$GPS2,004935,4808.226,-12223.172,251,99.0,271,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,0.167
$KALMAN_X,-285.6,-61.0,30.2,449.5,-8.5
$KALMAN_Y,1171.2,223.4,-291.7,-3269.5,23.9
$MHEAD_RNG_PITCHd_Wd,156.3,2281,-21.7,-10.000
$D_GRID,99
$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,15,-1.48,-97.3,0.0,0.0,0,163,0.00,0.00,-141.10,0.000,6,0.000,0.000,424,2296,3776
$GC,167,-1.48,-97.3,0.8,-0.1,25,186,9.90,2.53,0.00,0.000,4,0.146,0.042,2219,3712,3777
$GC,426,-1.48,-97.3,1.4,-0.0,85,432,0.00,2.35,0.00,0.000,6,0.000,0.024,2219,2299,3778
$GC,497,-1.48,-97.3,1.4,0.0,101,503,0.00,2.47,0.00,0.000,4,0.000,0.044,2219,3713,3778
$GC,742,-1.48,-97.3,1.3,-0.2,159,748,0.00,2.33,0.00,0.000,6,0.000,0.023,2219,2305,3778
$GC,813,-1.48,-97.3,1.3,-0.2,175,819,0.00,2.47,0.00,0.000,4,0.000,0.044,2219,3718,3778
$GC,1057,-1.48,-97.3,1.4,-0.1,233,1063,0.00,2.33,0.00,0.000,6,0.000,0.024,2219,2305,3778
$GC,1128,-1.48,-97.3,1.3,-0.1,249,1134,0.00,2.47,0.00,0.000,4,0.000,0.044,2218,3718,3777
$GC,1374,-1.48,-97.3,1.3,-0.1,307,1380,0.00,2.33,0.00,0.000,6,0.000,0.024,2219,2303,3778
$GC,1445,-1.48,-97.3,1.4,0.0,323,1451,0.00,2.45,0.00,0.000,4,0.000,0.044,2219,3711,3778
$GC,1691,-1.48,-97.3,1.3,-0.1,381,1697,0.00,2.30,0.00,0.000,6,0.000,0.024,2219,2308,3778
$GC,1762,-1.48,-97.3,1.4,-0.1,397,1768,0.00,2.45,0.00,0.000,4,0.000,0.044,2219,3717,3777
$GC,2007,-1.48,-97.3,1.4,-0.2,455,2013,0.00,2.30,0.00,0.000,6,0.000,0.023,2219,2312,3778
$GC,2078,-1.48,-97.3,1.4,-0.2,471,2084,0.00,2.45,0.00,0.000,4,0.000,0.044,2219,3720,3777
$STATE,2105,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2105,begin apogee
$GC,2113,-0.31,0.0,1.3,-0.1,477,2121,1.17,0.00,4.60,0.414,2,0.064,0.000,2476,2455,3737
$STATE,2122,end apogee,SURFACE_DEPTH_REACHED
$STATE,2122,begin surface coast
$FINISH,1.4,1.020502
$STATE,2330,end surface coast,CONTROL_FINISHED_OK
$STATE,2330,begin surface
$SM_CCo,2350,406.35,0.553,0,0,400,730.99
$SM_GC,0.32,0.00,0.00,406.35,0.000,0.000,0.553,414,2304,400,-9.82,-0.20,730.99
$IRIDIUM_FIX,4751.72,-12340.51,201198,161615
$TT8_MAMPS,0.026845
$HUMID,1917
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.0,2.039
$10V_AH,10.9,2.056
$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,20.075,33.550,4.600,406.350,0.000,157.442,281.377,0.000,0.000,0.000,0.000,904.951,820.060,539.774,565.177,1957.320,554.492,33.323,991.490,0.000,1078.052,0.000,0.999,0.000
$DEVICE_MAMPS,146.497,44.486,414.180,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.529,977.745,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22188,528
$CAP_FILE_SIZE,44843,0
$CFSIZE,260165632,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,004935,4808.226,-12223.172,251,99.0,271,18.3