version: 66.03
glider: 102
mission: 5
dive: 7
start: 4 30 108 3 13 6
data:
$ID,102
$MISSION,5
$DIVE,7
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89214.391
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3890
$C_VBD,3278
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.8701944
$PRESSURE_SLOPE,0.00011626
$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,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153311
$SEABIRD_T_H,0.00063080539
$SEABIRD_T_I,2.4434674e-05
$SEABIRD_T_J,2.6712662e-06
$SEABIRD_C_G,-10.14561
$SEABIRD_C_H,1.1327434
$SEABIRD_C_I,-0.0011798358
$SEABIRD_C_J,0.00018524687
$GPS1,030639,4806.409,-12222.322,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-65.4
$GPS2,031144,4806.320,-12222.249,9,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.147,0.214
$KALMAN_X,1728.6,613.2,185.8,-1264.0,71.9
$KALMAN_Y,-2541.7,-915.2,-274.5,633.6,-127.6
$MHEAD_RNG_PITCHd_Wd,307.1,1564,-17.9,-10.000
$D_GRID,107
$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,-1.46,-146.6,0.0,0.0,0,138,0.00,0.00,-91.40,0.000,2,0.000,0.000,34,1938,3086
$GC,141,-1.46,-146.6,3.2,-2.4,17,181,10.32,0.00,-24.50,0.000,6,0.136,0.000,1978,1938,3877
$GC,250,-1.46,-146.6,9.5,-8.4,36,256,0.00,2.58,0.00,0.000,4,0.000,0.048,1978,3358,3877
$GC,398,-1.46,-146.6,19.8,-6.4,62,405,0.00,2.47,0.00,0.000,6,0.000,0.038,1978,1962,3878
$GC,469,-1.46,-146.6,25.0,-7.6,69,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1962,3878
$GC,660,-1.46,-146.6,40.8,-8.6,87,664,0.00,2.53,0.00,0.000,4,0.000,0.048,1978,3356,3878
$GC,734,-1.46,-146.6,47.4,-9.7,93,738,0.00,2.50,0.00,0.000,6,0.000,0.041,1978,1957,3878
$GC,937,-1.46,-146.6,65.0,-8.4,104,939,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1957,3878
$GC,1247,-1.46,-146.6,90.2,-8.1,119,1251,0.00,2.55,0.00,0.000,4,0.000,0.050,1977,3356,3878
$GC,1392,-1.46,-146.6,102.6,-8.9,126,1399,0.00,2.50,0.00,0.000,6,0.000,0.041,1978,1950,3878
$STATE,1449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1449,begin apogee
$GC,1456,-0.36,0.0,107.6,8.4,132,1574,1.15,0.00,113.30,0.838,6,0.086,0.000,2219,2108,3278
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1577,1.46,146.6,109.1,0.0,144,1698,1.80,2.58,112.35,0.805,4,0.055,0.050,2616,3480,2680
$GC,1727,1.46,146.6,90.3,17.5,156,1731,0.00,2.50,0.00,0.000,6,0.000,0.042,2616,2103,2680
$GC,2045,1.46,146.6,36.0,16.8,174,2049,0.00,2.53,0.00,0.000,4,0.000,0.048,2616,3495,2679
$GC,2135,1.46,146.6,20.3,16.8,181,2142,0.00,2.50,0.00,0.000,6,0.000,0.040,2616,2096,2679
$STATE,2253,end climb,SURFACE_DEPTH_REACHED
$STATE,2253,begin surface coast
$FINISH,3.3,1.015198
$STATE,2299,end surface coast,CONTROL_FINISHED_OK
$STATE,2299,begin surface
$SM_CCo,2322,428.55,0.710,58,1,703,631.16
$SM_CCo,3046,17.05,0.674,2,0,627,650.04
$SM_GC,-0.04,0.00,0.00,17.05,0.000,0.000,0.674,34,1939,627,-10.42,-0.45,650.04
$IRIDIUM_FIX,4748.51,-12219.12,250797,020221
$TT8_MAMPS,0.026078
$HUMID,1628
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,80.1,43.0
$24V_AH,23.5,1.324
$10V_AH,10.0,0.477
$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,24.850,25.725,225.650,445.600,0.000,22.652,26.401,142.137,1.250,0.000,0.000,15.809,402.318,1164.182,1050.737,484.599,323.491,33.332,1325.184,0.000,478.576,0.000,8.643
$DEVICE_MAMPS,135.759,51.389,837.564,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,145.085,148.040,362.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9682,210
$CAP_FILE_SIZE,37441,8
$CFSIZE,260165632,259047424
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,60,0
$GPS,300408,040509,4806.362,-12222.333,9,1.9,9,18.3