version: 66.03
glider: 119
mission: 4
dive: 24
start: 7 24 108 15 15 25
data:
$ID,119
$MISSION,4
$DIVE,24
$D_SURF,5
$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,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,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$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,-209041.47
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,3245
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-4.1069918
$PRESSURE_SLOPE,0.0001159777
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,151103,4806.956,-12223.209,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-72.7
$GPS2,151432,4806.940,-12223.185,13,1.7,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.133
$KALMAN_X,1320.2,635.6,432.2,-2448.2,35.0
$KALMAN_Y,8643.7,-1478.2,-501.0,-8825.5,340.4
$MHEAD_RNG_PITCHd_Wd,121.8,253,-27.9,-10.000
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,30,-1.34,-62.0,0.0,0.0,0,114,0.00,0.00,-81.30,0.000,2,0.000,0.000,864,2070,2855
$GC,117,-1.36,-77.5,3.1,-8.3,15,152,10.15,2.38,-17.33,0.000,4,0.148,0.089,2366,3486,3561
$GC,164,-1.41,-114.3,8.1,-6.0,23,176,0.00,2.30,-3.38,0.000,6,0.000,0.062,2366,2070,3711
$GC,245,-1.41,-114.3,18.7,-16.1,37,251,0.00,2.35,0.00,0.000,4,0.000,0.080,2365,657,3711
$GC,347,-1.41,-114.3,36.5,-16.6,47,352,0.00,2.33,0.00,0.000,6,0.000,0.065,2365,2082,3711
$GC,553,-1.41,-114.3,71.4,-16.5,60,557,0.00,2.33,0.00,0.000,4,0.000,0.082,2365,3483,3711
$GC,603,-1.41,-114.3,80.6,-17.1,62,608,0.00,2.30,0.00,0.000,6,0.000,0.068,2366,2074,3711
$STATE,784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,784,begin apogee
$GC,790,-0.23,0.0,111.1,16.7,73,881,1.50,0.00,87.28,0.808,6,0.097,0.000,2615,2255,3245
$STATE,882,end apogee,CONTROL_FINISHED_OK
$STATE,882,begin climb
$GC,884,1.41,114.3,113.6,0.0,82,978,1.98,0.00,88.50,0.778,6,0.038,0.000,2985,2255,2779
$GC,1288,1.41,114.3,50.1,16.8,108,1293,0.00,2.40,0.00,0.000,4,0.000,0.096,2985,3650,2779
$GC,1548,1.41,114.3,11.8,12.4,136,1555,0.00,2.33,0.00,0.000,6,0.000,0.076,2985,2242,2778
$GC,1623,1.50,186.2,6.1,2.3,149,1684,0.00,2.45,54.60,0.758,4,0.000,0.089,2985,832,2484
$STATE,1800,end climb,SURFACE_DEPTH_REACHED
$STATE,1801,begin surface coast
$FINISH,4.6,1.019752
$STATE,1959,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1959,begin surface
$SM_CCo,1981,205.15,0.700,3,0,799,600.00
$SM_GC,0.28,0.00,0.00,205.15,0.000,0.000,0.700,862,2072,799,-8.32,-0.08,600.00
$IRIDIUM_FIX,4748.51,-12224.57,181097,141402
$TT8_MAMPS,0.028379
$HUMID,2062
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,92.0,28.4
$24V_AH,24.3,33.976
$10V_AH,10.7,22.040
$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,25.800,23.525,230.375,205.150,0.000,28.301,26.968,77.208,1.500,0.000,0.000,14.923,359.493,896.137,504.336,473.427,196.525,33.313,775.278,0.000,466.887,0.000,11.488
$DEVICE_MAMPS,148.031,95.875,807.651,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,136.473,150.878,352.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9696,209
$CAP_FILE_SIZE,29627,0
$CFSIZE,260165632,258482176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,240708,155307,4806.915,-12223.034,12,1.5,23,18.3