version: 66.09
glider: 127
mission: 8
dive: 7
start: 6 12 112 21 34 58
data:
$ID,127
$MISSION,8
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,4
$T_BOOST,0
$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,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-102182.93
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,1875
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-2.3478327
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,55
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043778275
$SEABIRD_T_H,0.00064372126
$SEABIRD_T_I,2.4597961e-05
$SEABIRD_T_J,2.4457499e-06
$SEABIRD_C_G,-9.9928436
$SEABIRD_C_H,1.1249512
$SEABIRD_C_I,-0.0005112022
$SEABIRD_C_J,0.00011811146
$GPS1,120612,212838,4743.206,-12224.575,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.5
$GPS2,120612,213356,4743.208,-12224.525,16,1.8,16,18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,0.296
$KALMAN_X,-69.7,-292.7,-181.9,848.5,1.6
$KALMAN_Y,-1314.2,-808.3,-426.5,3530.2,-563.3
$MHEAD_RNG_PITCHd_Wd,342.6,44104,-15.7,-10.000
$D_GRID,176
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.45,-195.4,0.0,0.0,0,47,0.00,0.00,-30.33,0.000,2,0.000,0.000,392,2078,1429,0,0,0,0,0,0
$GC,49,-1.45,-195.4,3.4,-6.4,4,116,12.98,2.62,-45.05,0.000,4,0.168,0.090,2613,671,2670,0,0,0,0,0,0
$GC,138,-1.45,-195.4,12.0,-20.0,17,146,0.00,2.58,0.00,0.000,6,0.000,0.062,2614,2084,2670,0,0,0,0,0,0
$GC,209,-1.45,-195.4,31.1,-28.0,30,217,0.00,2.62,0.00,0.000,4,0.000,0.070,2614,3491,2671,0,0,0,0,0,0
$GC,294,-1.45,-195.4,57.1,-30.9,46,302,0.00,2.60,0.00,0.000,6,0.000,0.063,2614,2088,2671,0,0,0,0,0,0
$GC,438,-1.45,-195.4,100.9,-29.8,71,444,0.00,2.65,0.00,0.000,4,0.000,0.080,2613,668,2670,0,0,0,0,0,0
$GC,509,-1.45,-195.4,121.9,-28.3,84,517,0.00,2.58,0.00,0.000,6,0.000,0.061,2614,2086,2671,0,0,0,0,0,0
$STATE,619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,619,begin apogee
$GC,622,-0.38,0.0,150.1,25.4,104,793,1.15,0.00,163.95,0.704,6,0.106,0.000,2842,2086,1876,0,0,0,0,0,0
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,795,1.45,195.4,159.5,0.0,130,964,1.98,0.00,162.82,0.687,6,0.083,0.000,3245,2089,1078,0,0,0,0,0,0
$GC,1093,1.45,195.4,100.0,24.6,180,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2089,1074,0,0,0,0,0,0
$GC,1232,1.45,195.4,67.8,22.2,205,1239,0.00,2.67,0.00,0.000,4,0.000,0.083,3245,667,1072,0,0,0,0,0,0
$GC,1246,1.45,195.4,64.5,22.8,207,1253,0.00,2.58,0.00,0.000,6,0.000,0.063,3245,2088,1072,0,0,0,0,0,0
$GC,1380,1.45,195.4,35.1,22.8,232,1388,0.00,2.62,0.00,0.000,4,0.000,0.071,3245,3485,1071,0,0,0,0,0,0
$GC,1431,1.45,195.4,23.3,23.3,241,1439,0.00,2.62,0.00,0.000,6,0.000,0.069,3245,2083,1070,0,0,0,0,0,0
$GC,1502,1.45,195.4,8.2,21.1,254,1510,0.00,2.67,0.00,0.000,4,0.000,0.085,3245,673,1071,0,0,0,0,0,0
$GC,1517,1.45,195.4,4.8,21.8,256,1525,0.00,2.58,0.00,0.000,6,0.000,0.061,3245,2083,1071,0,0,0,0,0,0
$STATE,1531,end climb,SURFACE_DEPTH_REACHED
$STATE,1531,begin surface coast
$FINISH,0.2,1.010584
$STATE,1543,end surface coast,CONTROL_FINISHED_OK
$STATE,1543,begin surface
$SM_CCo,1561,98.50,0.597,2,0,611,310.05
$SM_GC,2.23,0.00,0.00,98.50,0.000,0.000,0.597,393,2084,611,-11.69,-0.17,310.05,0,0,0,0,2,0
$RAFOS_CLK,62
$RAFOS,1,1339535942,21.333334,21.317223,48,46,41,0,0,0,907,603,967,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12226.80,120612,202001
$TT8_MAMPS,0.02247,0.02247
$HUMID,41.25
$INTERNAL_PRESSURE,8.89871
$TCM_TEMP,16.10
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.1,40.9
$24V_AH,23.6,0.923
$10V_AH,10.5,1.153
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.375,31.400,326.775,98.500,0.000,29.371,29.462,173.590,3.500,0.000,16.854,555.121,111.833,454.845,858.049,30.994,33.307,788.395,0.000,613.664,0.000,5.830,0.000
$DEVICE_MAMPS,168.300,89.505,703.800,596.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.836,175.011,439.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318704
$DATA_FILE_SIZE,17021,260
$CAP_FILE_SIZE,40257,0
$CFSIZE,260280320,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1483.5
$GPS,120612,220406,4743.506,-12224.492,38,0.8,38,18.2