version: 66.04
glider: 509
mission: 3
dive: 2
start: 3 24 110 21 31 20
data:
$ID,509
$MISSION,3
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51513
$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,650
$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,-3277.5498
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,66
$PITCH_MAX,3829
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,3866
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,427
$VBD_MAX,3960
$C_VBD,3253
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-53.861084
$PRESSURE_SLOPE,0.00011619828
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043848851
$SEABIRD_T_H,0.00062951574
$SEABIRD_T_I,2.5184547e-05
$SEABIRD_T_J,2.8240252e-06
$SEABIRD_C_G,-10.113074
$SEABIRD_C_H,1.152099
$SEABIRD_C_I,-0.0021905303
$SEABIRD_C_J,0.00025245731
$GPS1,212726,4807.234,-12223.206,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.9
$GPS2,213044,4807.220,-12223.199,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.169
$KALMAN_X,-17.2,-17.2,-17.2,58.5,-28.2
$KALMAN_Y,-1.7,-1.7,-1.7,-180.3,-2.8
$MHEAD_RNG_PITCHd_Wd,123.1,476,-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,-0.99,-97.7,0.0,0.0,0,129,0.00,0.00,-115.93,0.000,2,0.000,0.000,66,2451,3451
$GC,130,-0.99,-97.7,3.1,-3.2,22,153,11.02,2.25,-4.90,0.000,4,0.278,0.069,2471,1035,3655
$STATE,294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,294,begin apogee
$GC,299,-0.20,0.0,45.8,27.2,53,383,0.98,0.00,77.57,0.583,6,0.215,0.000,2726,2453,3253
$STATE,383,end apogee,CONTROL_FINISHED_OK
$STATE,383,begin climb
$GC,384,0.99,97.7,57.4,0.0,69,469,1.30,2.40,77.62,0.563,4,0.160,0.069,3103,3859,2854
$GC,707,0.99,102.8,30.2,9.6,130,720,0.00,2.22,5.62,0.455,6,0.000,0.038,3113,2442,2832
$GC,750,1.01,117.8,26.5,9.0,138,767,0.00,0.00,13.32,0.528,6,0.000,0.000,3113,2442,2771
$GC,797,1.04,138.0,22.2,8.6,147,816,0.00,0.00,16.88,0.530,6,0.000,0.000,3113,2442,2689
$GC,845,1.04,138.0,17.4,10.0,156,846,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2442,2688
$GC,878,1.04,140.2,14.3,9.9,162,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2441,2688
$GC,910,1.07,160.6,11.4,8.6,168,932,0.00,0.00,18.45,0.530,6,0.000,0.000,3113,2442,2597
$GC,962,1.10,191.1,7.1,7.9,178,991,0.12,0.00,25.10,0.529,6,0.080,0.000,3159,2442,2472
$STATE,1009,end climb,SURFACE_DEPTH_REACHED
$STATE,1009,begin surface coast
$FINISH,0.9,1.019762
$STATE,1047,end surface coast,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$SM_CCo,1060,224.30,0.523,0,0,602,650.03
$SM_GC,1.11,0.00,0.00,224.30,0.000,0.000,0.523,68,2442,602,-8.54,-0.23,650.03
$IRIDIUM_FIX,4748.51,-12224.57,180699,212159
$TT8_MAMPS,0.049088
$HUMID,1652
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.6,7.214
$10V_AH,10.7,1.936
$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,22.525,9.250,234.575,224.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.224,0.000,406.239,524.609,381.773,16.933,30.169,734.651,0.000,291.194,0.000,0.999,0.000
$DEVICE_MAMPS,278.421,69.030,582.920,523.094,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.437,67.818,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6457,194
$CAP_FILE_SIZE,38950,0
$CFSIZE,260165632,259284992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,215308,4807.199,-12223.104,6,1.8,6,18.3