version: 66.04
glider: 33
mission: 3
dive: 18
start: 7 30 109 14 17 17
data:
$ID,33
$MISSION,3
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,-165370.12
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,3
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,121
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2137
$C_ROLL_CLIMB,2137
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,736
$VBD_MAX,3794
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.798624
$PRESSURE_SLOPE,0.0002686042
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,99
$DEVICE3,-1
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,141114,4807.357,-12223.225,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.3
$GPS2,141625,4807.317,-12223.151,11,1.8,16,18.3
$SPEED_LIMITS,0.087,0.207
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.196
$KALMAN_X,-4207.9,-104.9,-227.2,4104.2,-426.2
$KALMAN_Y,9549.0,6.3,-111.1,-10315.4,1242.8
$MHEAD_RNG_PITCHd_Wd,142.7,617,-8.7,-5.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.90,-146.6,0.0,0.0,0,142,0.00,0.00,-125.05,0.000,2,0.000,0.000,1551,2139,2895
$GC,144,-0.90,-146.6,3.1,-2.8,23,201,9.82,2.62,-36.80,0.000,4,0.194,0.094,3047,3546,3640
$GC,370,-0.90,-146.6,18.4,-7.1,63,376,0.00,2.47,0.00,0.000,6,0.000,0.072,3046,2130,3640
$GC,445,-0.90,-146.6,23.9,-7.4,72,450,0.00,2.60,0.00,0.000,4,0.000,0.097,3047,3538,3640
$GC,703,-0.90,-146.6,44.5,-8.5,95,707,0.00,2.47,0.00,0.000,6,0.000,0.074,3047,2132,3640
$GC,902,-0.90,-146.6,60.6,-8.1,108,906,0.00,2.62,0.00,0.000,4,0.000,0.102,3047,3536,3641
$GC,1157,-0.90,-146.6,82.1,-8.6,119,1165,0.00,2.50,0.00,0.000,6,0.000,0.077,3046,2144,3641
$STATE,1432,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1432,begin apogee
$GC,1435,-0.42,0.0,105.1,8.7,135,1565,0.60,0.00,122.72,0.837,6,0.102,0.000,3157,2143,3239
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1567,0.90,146.6,114.2,0.0,148,1693,1.55,2.70,115.72,0.817,4,0.102,0.104,3443,724,2840
$GC,1945,1.05,268.8,112.3,2.2,182,2047,0.12,2.45,95.05,0.819,6,0.074,0.070,3478,2138,2508
$GC,2368,1.05,268.8,88.6,5.8,214,2372,0.00,2.62,0.00,0.000,4,0.000,0.107,3478,719,2508
$GC,2625,1.05,268.8,73.1,6.0,225,2630,0.00,2.47,0.00,0.000,6,0.000,0.074,3478,2111,2507
$GC,2946,1.05,268.8,54.8,5.9,241,2950,0.00,2.55,0.00,0.000,4,0.000,0.104,3478,721,2507
$GC,3202,1.05,268.8,40.6,5.2,259,3210,0.00,2.50,0.00,0.000,6,0.000,0.074,3478,2128,2506
$GC,3400,1.06,275.6,31.0,4.8,278,3412,0.00,2.62,6.20,0.658,4,0.000,0.104,3478,724,2489
$GC,3665,1.06,275.6,17.2,5.3,306,3671,0.00,2.47,0.00,0.000,6,0.000,0.077,3478,2140,2489
$GC,3738,1.06,275.6,13.4,5.1,319,3744,0.00,2.60,0.00,0.000,4,0.000,0.104,3478,721,2489
$GC,3997,1.29,461.6,5.6,0.8,365,4076,0.28,2.47,73.20,0.797,2,0.099,0.077,3530,2148,2234
$STATE,4077,end climb,SURFACE_DEPTH_REACHED
$STATE,4077,begin surface coast
$FINISH,1.1,1.018669
$STATE,4250,end surface coast,CONTROL_FINISHED_OK
$STATE,4251,begin surface
$SM_CCo,4266,255.85,0.765,0,0,1337,700.11
$SM_GC,0.72,0.00,0.00,255.85,0.000,0.000,0.765,1551,2139,1337,-7.81,0.06,700.11
$IRIDIUM_FIX,4748.51,-12224.57,241098,121226
$TT8_MAMPS,0.021476
$HUMID,2189
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,80.1,39.7
$24V_AH,22.9,3.655
$10V_AH,10.8,0.816
$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,22.675,40.775,412.900,255.850,0.000,31.225,25.141,180.965,1.250,0.000,0.000,16.266,645.241,2231.934,749.404,937.013,284.613,33.317,1271.684,0.000,875.551,0.000,10.202,0.000
$DEVICE_MAMPS,193.674,106.769,836.771,764.764,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.314,623.503,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22290,410
$CAP_FILE_SIZE,53065,0
$CFSIZE,260280320,257732608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,22,3,0,0
$GPS,300709,153336,4807.288,-12223.164,25,1.3,25,18.3