version: 66.03
glider: 150
mission: 2
dive: 3
start: 4 24 108 19 38 29
data:
$ID,150
$MISSION,2
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,60
$T_ABORT,1440
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51705
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-2564.1121
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,3046
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2110
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3519
$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,61.200001
$PRESSURE_YINT,-5.4720573
$PRESSURE_SLOPE,0.000116226
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$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,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,193329,4807.135,-12223.006,12,3.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-68.2
$GPS2,193734,4807.127,-12222.951,9,2.4,28,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,-0.163
$KALMAN_X,43.0,20.1,16.6,446.9,18.0
$KALMAN_Y,-52.3,-41.9,-40.0,-784.4,-30.4
$MHEAD_RNG_PITCHd_Wd,181.4,244,-27.2,-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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.78,-63.1,0.0,0.0,0,128,0.00,0.00,-108.45,0.000,2,0.000,0.000,424,2114,2939
$GC,130,-1.82,-99.0,3.3,-6.2,20,177,11.95,2.60,-25.15,0.000,4,0.169,0.102,2637,3516,3929
$GC,400,-1.82,-99.0,29.7,-11.9,82,406,0.00,2.45,0.00,0.000,6,0.000,0.065,2637,2092,3931
$GC,470,-1.82,-99.0,38.5,-13.2,98,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2092,3932
$GC,543,-1.82,-99.0,48.6,-14.1,114,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2092,3932
$GC,684,-1.82,-99.0,69.3,-14.7,145,690,0.00,2.40,0.00,0.000,4,0.000,0.073,2637,705,3932
$GC,708,-1.82,-99.0,72.9,-14.7,150,715,0.00,2.42,0.00,0.000,6,0.000,0.064,2637,2111,3932
$GC,854,-1.82,-99.0,94.3,-14.6,181,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2112,3932
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,934,-0.31,0.0,105.4,13.6,198,1019,1.62,0.00,80.03,0.889,6,0.125,0.000,2973,2112,3519
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1021,1.82,99.0,108.3,0.0,214,1106,2.05,0.00,78.15,0.857,6,0.073,0.000,3442,2112,3115
$GC,1241,1.82,99.0,82.8,14.6,260,1247,0.00,2.50,0.00,0.000,4,0.000,0.083,3441,712,3114
$GC,1275,1.82,99.0,77.6,15.5,267,1281,0.00,2.45,0.00,0.000,6,0.000,0.066,3442,2111,3115
$GC,1418,1.82,99.0,56.7,13.7,298,1424,0.00,2.70,0.00,0.000,4,0.000,0.117,3442,3524,3114
$GC,1434,1.82,99.0,54.2,14.0,301,1440,0.00,2.47,0.00,0.000,6,0.000,0.071,3442,2120,3114
$GC,1574,1.82,99.0,34.7,13.4,332,1580,0.00,2.53,0.00,0.000,4,0.000,0.083,3441,689,3114
$GC,1644,1.82,99.0,24.2,13.9,348,1650,0.00,2.47,0.00,0.000,6,0.000,0.066,3442,2116,3114
$GC,1714,1.82,99.0,15.1,12.2,364,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2116,3115
$GC,1783,1.83,104.3,7.7,9.4,380,1795,0.00,2.67,6.07,0.696,4,0.000,0.110,3442,3524,3092
$GC,2032,1.95,198.6,7.2,-0.0,439,2067,0.12,2.47,29.77,0.823,2,0.076,0.067,3472,2098,2943
$STATE,2068,end climb,NO_VERTICAL_VELOCITY
$STATE,2068,begin surface
$SM_CCo,2071,454.35,0.709,34,0,470,747.92
$SM_GC,1.05,13.00,0.00,0.00,0.043,0.000,0.000,422,2094,463,-12.00,-0.42,749.39
$IRIDIUM_FIX,4748.51,-12217.40,190797,191923
$TT8_MAMPS,0.027612
$HUMID,1551
$INTERNAL_PRESSURE,8.98787
$TCM_TEMP,17.50
$XPDR_PINGS,51
$ALTIM_BOTTOM_PING,90.2,10.1
$24V_AH,23.5,0.690
$10V_AH,10.1,0.261
$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,28.750,30.150,194.025,454.350,0.000,0.000,0.000,0.000,13.750,0.000,0.000,30.837,653.486,449.302,915.063,833.591,44.012,31.412,1336.327,0.000,811.992,0.000,9.770
$DEVICE_MAMPS,168.740,117.351,888.953,708.708,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,302.409,235.821,572.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22277,445
$CAP_FILE_SIZE,55881,0
$CFSIZE,260165632,258715648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,34,0
$GPS,240408,202614,4806.897,-12222.879,10,1.3,27,18.3