version: 66.04
glider: 152
mission: 2
dive: 13
start: 9 18 109 8 38 54
data:
$ID,152
$MISSION,2
$DIVE,13
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,70
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,1.0276
$MASS,51523
$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,400
$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,-13651.548
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3210
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.183395
$PRESSURE_SLOPE,0.0001162351
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,082836,4807.178,-12223.086,10,1.8,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-68.1
$GPS2,083802,4807.166,-12223.047,11,1.7,11,18.3
$SPEED_LIMITS,0.124,0.259
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.082,-0.206
$KALMAN_X,-1112.3,-146.2,-56.5,-31.7,-284.6
$KALMAN_Y,688.8,-49.6,36.1,1117.6,558.9
$MHEAD_RNG_PITCHd_Wd,140.0,313,-13.2,-7.143
$D_GRID,150
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.26,-132.9,0.0,0.0,0,32,0.00,0.00,-6.28,0.000,2,0.000,0.000,436,1944,1697
$GC,38,-1.34,-194.6,3.7,-0.0,1,173,11.95,2.40,-112.57,0.000,4,0.161,0.052,2627,3350,3952
$GC,184,-1.34,-194.6,7.8,-11.6,22,191,0.00,2.38,0.00,0.000,6,0.000,0.036,2627,1946,3952
$GC,260,-1.34,-194.6,19.8,-11.9,35,267,0.00,2.47,0.00,0.000,4,0.000,0.067,2628,557,3953
$GC,353,-1.34,-194.6,30.3,-11.6,55,360,0.00,2.30,0.00,0.000,6,0.000,0.029,2627,1962,3953
$GC,429,-1.34,-194.6,38.5,-10.7,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1964,3953
$GC,509,-1.34,-194.6,46.5,-10.3,81,515,0.00,2.50,0.00,0.000,4,0.000,0.074,2628,553,3953
$GC,552,-1.34,-194.6,51.7,-11.6,89,559,0.00,2.28,0.00,0.000,6,0.000,0.031,2628,1958,3953
$GC,695,-1.34,-194.6,68.0,-11.5,114,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1960,3953
$STATE,804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,804,begin apogee
$GC,816,-0.42,0.0,80.6,11.5,133,965,0.90,0.00,143.07,0.795,6,0.081,0.000,2824,1961,3210
$STATE,966,end apogee,CONTROL_FINISHED_OK
$STATE,966,begin climb
$GC,971,1.34,194.6,86.5,0.0,158,1136,1.70,2.45,155.05,0.765,4,0.060,0.045,3207,3389,2416
$GC,1226,1.34,194.6,64.2,11.0,203,1232,0.00,2.35,0.00,0.000,6,0.000,0.038,3207,2000,2413
$GC,1369,1.34,194.6,47.7,11.3,228,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2000,2411
$GC,1514,1.34,194.6,30.1,12.2,253,1521,0.00,2.40,0.00,0.000,4,0.000,0.044,3207,3395,2411
$GC,1544,1.34,194.6,26.2,12.7,258,1551,0.00,2.38,0.00,0.000,6,0.000,0.038,3207,2006,2411
$GC,1620,1.34,194.6,16.8,12.2,271,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2006,2411
$GC,1695,1.34,194.6,8.2,10.6,284,1703,0.00,2.55,0.00,0.000,4,0.000,0.077,3207,598,2409
$GC,1742,1.52,344.8,6.6,1.7,293,1864,0.15,2.30,111.90,0.746,6,0.036,0.031,3261,1998,1802
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1869,begin surface coast
$FINISH,2.0,1.008552
$STATE,1917,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1949,24.17,0.706,0,0,1579,400.08
$SM_GC,2.82,0.00,0.00,24.17,0.000,0.000,0.706,439,1937,1579,-11.41,-0.40,400.08
$IRIDIUM_FIX,4748.51,-12226.29,131298,070759
$TT8_MAMPS,0.021476
$HUMID,2185
$INTERNAL_PRESSURE,9.39174
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.6,7.5
$24V_AH,23.5,2.327
$10V_AH,10.7,1.063
$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,26.700,28.825,410.025,24.175,0.000,29.650,26.875,309.114,1.000,0.000,0.000,13.422,438.141,271.518,423.394,765.112,648.258,33.335,857.466,0.000,767.875,0.000,5.742,0.000
$DEVICE_MAMPS,161.070,87.438,794.612,705.640,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,214.434,165.667,575.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15994,320
$CAP_FILE_SIZE,38617,0
$CFSIZE,260165632,237481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,091250,4806.968,-12222.854,12,1.4,12,18.3