version: 66.03
glider: 143
mission: 3
dive: 21
start: 3 8 108 13 27 29
data:
$ID,143
$MISSION,3
$DIVE,21
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,80
$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,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51312
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,615.703
$N_FILEKB,8
$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,-3575.042
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1999
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-11.618507
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12.5
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,131047,4807.204,-12223.269,10,2.2,29,18.3
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.0
$GPS2,132632,4807.370,-12223.413,11,2.0,11,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,-0.209
$KALMAN_X,-3784.1,-253.2,-119.5,3759.3,-78.3
$KALMAN_Y,5697.7,412.8,100.5,-7196.4,105.2
$MHEAD_RNG_PITCHd_Wd,125.0,854,-18.2,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.94,-146.6,0.0,0.0,0,72,0.00,0.00,-52.33,0.000,2,0.000,0.000,1468,2311,1703
$GC,75,-0.94,-146.6,3.4,-4.4,7,155,11.02,2.85,-63.12,0.000,4,0.260,0.061,2721,879,3599
$GC,169,-0.55,-146.6,7.8,-8.3,20,178,0.52,2.83,0.00,0.000,6,0.163,0.047,2802,2293,3599
$GC,242,-0.55,-146.6,16.5,-11.0,33,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2293,3599
$GC,313,-0.55,-146.6,24.6,-11.4,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2293,3599
$GC,385,-0.55,-146.6,33.1,-12.3,59,393,0.00,2.88,0.00,0.000,4,0.000,0.061,2802,893,3599
$GC,411,-0.59,-146.6,36.3,-12.0,63,419,0.00,2.80,0.00,0.000,6,0.000,0.049,2801,2296,3599
$GC,483,-0.64,-146.6,44.5,-11.8,76,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2296,3599
$GC,557,-0.69,-146.6,52.6,-11.2,89,563,0.00,2.85,0.00,0.000,4,0.000,0.060,2801,883,3599
$GC,581,-0.76,-146.6,55.4,-11.1,93,588,0.20,2.80,0.00,0.000,6,0.049,0.048,2756,2307,3599
$GC,718,-0.66,-146.6,75.8,-14.9,118,726,0.15,2.88,0.00,0.000,4,0.133,0.059,2781,894,3599
$GC,732,-0.58,-146.6,78.0,-14.5,120,740,0.08,2.78,0.00,0.000,6,0.129,0.047,2795,2298,3599
$GC,876,-0.63,-146.6,94.3,-11.3,145,882,0.00,2.83,0.00,0.000,4,0.000,0.058,2795,885,3599
$GC,922,-0.73,-146.6,99.6,-10.9,153,929,0.15,2.78,0.00,0.000,6,0.058,0.047,2761,2305,3599
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,953,-0.21,0.0,103.4,13.1,158,1088,0.68,0.00,131.57,0.893,6,0.127,0.000,2876,1981,3000
$STATE,1089,end apogee,CONTROL_FINISHED_OK
$STATE,1089,begin climb
$GC,1091,0.94,146.6,110.6,0.0,180,1234,1.48,2.95,131.23,0.774,4,0.098,0.060,3130,605,2401
$GC,1270,0.60,146.6,95.5,15.1,209,1276,0.45,2.83,0.00,0.000,6,0.153,0.041,3066,2013,2399
$GC,1407,0.55,175.4,81.2,8.7,234,1441,0.00,2.95,27.35,0.837,4,0.000,0.061,3066,600,2283
$GC,1465,0.50,175.4,75.7,10.2,243,1471,0.17,2.80,0.00,0.000,6,0.150,0.040,3042,2010,2282
$GC,1601,0.60,219.0,64.4,8.0,268,1646,0.00,0.00,40.05,0.798,6,0.000,0.000,3042,2010,2106
$GC,1779,0.73,256.1,49.9,8.3,299,1817,0.20,0.00,34.30,0.803,6,0.061,0.000,3084,2010,1954
$GC,1882,0.69,256.1,37.5,12.9,316,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2010,1951
$GC,1953,0.65,256.1,28.6,12.9,329,1961,0.00,2.92,0.00,0.000,4,0.000,0.061,3084,608,1951
$GC,1980,0.62,256.1,25.2,13.1,333,1988,0.00,2.75,0.00,0.000,6,0.000,0.040,3084,1996,1950
$GC,2052,0.58,256.1,16.2,11.8,346,2060,0.15,0.00,0.00,0.000,6,0.132,0.000,3060,1996,1950
$GC,2125,0.71,285.7,9.2,8.6,359,2163,0.12,0.00,29.25,0.732,6,0.071,0.000,3084,1996,1835
$GC,2228,1.44,508.5,4.7,-0.2,376,2382,0.77,0.00,149.48,0.714,2,0.050,0.000,3240,1996,1164
$STATE,2383,end climb,SURFACE_DEPTH_REACHED
$STATE,2383,begin surface coast
$FINISH,1.2,1.015936
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2443,156.52,0.724,0,0,490,615.70
$SM_GC,2.10,0.00,0.00,156.52,0.000,0.000,0.724,1471,2309,490,-6.71,0.25,615.70
$IRIDIUM_FIX,4751.72,-12223.57,020697,131329
$TT8_MAMPS,0.022243
$HUMID,1568
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,12.30
$XPDR_PINGS,138
$ALTIM_BOTTOM_PING,80.6,42.2
$24V_AH,20.7,10.385
$10V_AH,9.7,3.254
$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
$DEVICE_SECS,25.475,46.700,543.225,156.525,0.000,131.219,139.490,336.572,35.000,0.000,0.000,12.996,579.197,431.428,599.451,1235.884,715.343,33.330,1213.336,0.000,1246.231,0.000,5.464
$DEVICE_MAMPS,260.013,61.360,892.788,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.027,288.621,305.052,515.215,1006.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31805,405
$CAP_FILE_SIZE,57394,0
$CFSIZE,260165632,256847872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080308,141202,4807.208,-12223.210,39,1.2,39,18.3