version: 66.04
glider: 160
mission: 2
dive: 6
start: 12 10 108 23 57 12
data:
$ID,160
$MISSION,2
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,620
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6147.8188
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2625
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.364115
$PRESSURE_SLOPE,0.000115925
$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,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,234901,4807.670,-12223.502,30,1.4,35,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.7
$GPS2,235633,4807.643,-12223.521,10,1.6,10,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.193
$KALMAN_X,-189.3,-153.1,-84.3,118.8,-4.6
$KALMAN_Y,187.2,50.0,12.8,-1085.1,43.3
$MHEAD_RNG_PITCHd_Wd,135.4,1353,-21.7,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,78,0.00,0.00,-64.88,0.000,2,0.000,0.000,146,2356,2092
$GC,79,-0.84,-97.8,3.0,-6.4,11,155,8.75,2.33,-58.97,0.000,4,0.247,0.069,2347,939,3963
$GC,394,-0.84,-97.8,28.6,-11.8,69,401,0.00,2.30,0.00,0.000,6,0.000,0.059,2340,2347,3963
$GC,464,-0.84,-97.8,37.8,-13.5,82,471,0.00,2.28,0.00,0.000,4,0.000,0.057,2340,943,3963
$GC,576,-0.84,-97.8,54.1,-14.4,103,583,0.00,2.30,0.00,0.000,6,0.000,0.066,2339,2353,3963
$GC,709,-0.84,-97.8,73.1,-14.7,128,716,0.00,2.28,0.00,0.000,4,0.000,0.054,2339,941,3963
$GC,736,-0.84,-97.8,77.0,-15.4,133,742,0.00,2.28,0.00,0.000,6,0.000,0.058,2339,2345,3964
$GC,868,-0.84,-97.8,95.9,-13.8,158,876,0.00,2.28,0.00,0.000,4,0.000,0.058,2339,940,3963
$GC,917,-0.84,-97.8,102.5,-13.5,167,923,0.00,2.28,0.00,0.000,6,0.000,0.060,2339,2346,3963
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,937,begin apogee
$GC,940,-0.17,0.0,105.4,14.4,171,1012,0.70,0.00,67.72,0.734,6,0.152,0.000,2561,2346,3589
$STATE,1012,end apogee,CONTROL_FINISHED_OK
$STATE,1012,begin climb
$GC,1014,0.84,97.8,108.8,0.0,184,1092,0.98,0.00,73.68,0.693,6,0.100,0.000,2888,2346,3189
$GC,1218,0.84,97.8,91.6,10.3,222,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2346,3189
$GC,1346,0.84,97.8,78.8,10.0,246,1354,0.00,2.30,0.00,0.000,4,0.000,0.057,2892,946,3189
$GC,1373,0.84,97.8,76.2,10.1,251,1380,0.00,2.30,0.00,0.000,6,0.000,0.051,2891,2356,3189
$GC,1506,0.85,105.8,62.9,9.4,276,1519,0.00,0.00,7.65,0.604,6,0.000,0.000,2891,2356,3156
$GC,1645,0.85,105.8,48.4,10.6,302,1653,0.00,2.30,0.00,0.000,4,0.000,0.064,2891,3760,3157
$GC,1710,0.85,105.8,41.0,11.3,314,1717,0.00,2.25,0.00,0.000,6,0.000,0.044,2898,2346,3156
$GC,1844,0.85,105.8,27.2,10.4,339,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2346,3156
$GC,1908,0.86,109.5,20.8,9.7,351,1915,0.00,0.00,4.38,0.490,6,0.000,0.000,2898,2346,3142
$GC,1977,0.86,109.5,13.8,10.0,364,1984,0.00,2.22,0.00,0.000,4,0.000,0.054,2905,943,3142
$GC,2047,0.88,128.1,7.5,8.7,377,2066,0.00,2.25,14.85,0.657,6,0.000,0.049,2905,2354,3065
$GC,2129,1.07,281.0,4.7,-0.5,392,2236,0.17,0.00,104.72,0.640,2,0.067,0.000,2975,2354,2481
$STATE,2237,end climb,NO_VERTICAL_VELOCITY
$STATE,2237,begin surface
$SM_CCo,2238,376.10,0.604,0,0,489,760.18
$SM_GC,1.62,7.78,0.00,0.00,0.042,0.000,0.000,150,2356,486,-7.68,0.17,761.17
$IRIDIUM_FIX,4748.51,-12221.84,060398,232353
$TT8_MAMPS,0.050622
$HUMID,1497
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,40.9
$24V_AH,24.4,4.513
$10V_AH,10.7,1.629
$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,18.375,31.925,273.000,376.100,0.000,61.646,105.860,165.556,1.000,0.000,0.000,12.488,0.000,1162.721,732.018,888.310,386.006,33.311,1128.149,0.000,743.591,0.000,5.509,0.000
$DEVICE_MAMPS,246.974,69.030,734.019,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,270.452,216.156,507.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19064,410
$CAP_FILE_SIZE,45446,0
$CFSIZE,260165632,258465792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,004317,4807.391,-12223.303,11,99.0,30,18.3