version: 66.03
glider: 16
mission: 8
dive: 9
start: 4 30 108 4 50 17
data:
$ID,16
$MISSION,8
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2089191.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2995
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.153397
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,044159,4806.403,-12222.532,11,5.3,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.6
$GPS2,044859,4806.298,-12222.492,11,2.7,30,18.3
$SPEED_LIMITS,0.173,0.331
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.300
$KALMAN_X,2129.2,662.1,153.8,-1977.9,20.4
$KALMAN_Y,-3822.7,-1186.4,-301.3,1817.6,-68.6
$MHEAD_RNG_PITCHd_Wd,315.9,1443,-13.8,-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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.13,-244.4,0.0,0.0,0,100,0.00,0.00,-54.25,0.000,2,0.000,0.000,74,2030,1838
$GC,103,-1.13,-244.4,3.1,-6.9,10,197,10.88,0.00,-75.68,0.000,6,0.157,0.000,2050,2030,3836
$GC,268,-1.13,-244.4,9.8,-5.1,39,274,0.00,2.65,0.00,0.000,4,0.000,0.066,2050,3446,3835
$GC,372,-1.13,-244.4,16.0,-6.1,57,379,0.00,2.58,-0.08,0.000,6,0.000,0.051,2050,2028,3838
$GC,453,-1.13,-244.4,20.9,-6.5,70,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2028,3838
$GC,644,-1.13,-244.4,33.8,-6.7,88,648,0.00,2.65,0.00,0.000,4,0.000,0.067,2050,3439,3838
$GC,721,-1.13,-244.4,39.6,-7.5,94,728,0.00,2.55,0.00,0.000,6,0.000,0.052,2050,2032,3837
$GC,929,-1.13,-244.4,53.0,-6.4,112,933,0.00,2.67,0.00,0.000,4,0.000,0.069,2050,3446,3837
$GC,991,-1.13,-244.4,57.4,-6.7,115,996,0.00,2.60,0.00,0.000,6,0.000,0.053,2050,2031,3837
$GC,1319,-1.13,-244.4,77.5,-6.1,131,1323,0.00,2.67,0.00,0.000,4,0.000,0.070,2050,3444,3837
$GC,1398,-1.13,-244.4,82.9,-7.0,134,1405,0.00,2.58,0.00,0.000,6,0.000,0.054,2050,2030,3837
$GC,1715,-1.13,-244.4,101.8,-6.1,151,1720,0.00,2.67,0.00,0.000,4,0.000,0.071,2050,3440,3837
$STATE,1764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1764,begin apogee
$GC,1773,-0.31,0.0,105.2,7.0,155,1945,0.85,0.00,167.43,0.659,6,0.095,0.000,2224,2033,2995
$STATE,1945,end apogee,CONTROL_FINISHED_OK
$STATE,1946,begin climb
$GC,1948,1.13,244.4,108.7,0.0,172,2154,1.45,2.70,196.30,0.634,4,0.062,0.067,2545,3441,1998
$GC,2225,1.13,244.4,55.8,23.1,189,2230,0.00,2.65,0.00,0.000,6,0.000,0.062,2545,2030,1998
$STATE,2456,end climb,SURFACE_DEPTH_REACHED
$STATE,2456,begin surface coast
$FINISH,2.3,1.014664
$STATE,2474,end surface coast,CONTROL_FINISHED_OK
$STATE,2474,begin surface
$SM_CCo,2496,192.77,0.565,3,0,549,600.00
$SM_GC,1.35,0.00,0.00,192.77,0.000,0.000,0.565,72,2026,549,-10.25,-0.11,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1717
$TCM_TEMP,17.00
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,80.1,48.0
$24V_AH,23.7,1.452
$10V_AH,10.1,0.614
$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,24.325,31.575,363.725,192.775,0.000,36.468,59.000,152.818,7.000,0.000,0.000,31.616,396.970,1228.938,627.303,552.701,361.101,33.312,945.659,0.000,523.889,0.000,11.564
$DEVICE_MAMPS,157.235,70.564,658.853,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.985,150.044,378.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9639,219
$CAP_FILE_SIZE,35877,0
$CFSIZE,260165632,258990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,300408,053637,4806.494,-12222.614,33,1.1,38,18.3