version: 66.03
glider: 128
mission: 3
dive: 10
start: 4 17 108 3 35 46
data:
$ID,128
$MISSION,3
$DIVE,10
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$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,1.023
$MASS,51171
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$N_FILEKB,8
$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,-96274.938
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3181
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-12.587764
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,032908,4807.835,-12223.523,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.8
$GPS2,033447,4807.805,-12223.502,9,2.5,28,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.207
$KALMAN_X,-1223.5,-439.1,108.3,1571.4,104.1
$KALMAN_Y,2254.9,701.1,-19.5,-2593.8,-127.0
$MHEAD_RNG_PITCHd_Wd,145.1,1615,-22.4,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-1.02,-97.8,0.0,0.0,0,134,0.00,0.00,-99.68,0.000,2,0.000,0.000,59,2053,2679
$GC,139,-1.02,-97.8,5.2,-15.0,19,180,10.23,2.45,-24.10,0.000,4,0.199,0.061,2681,3447,3581
$GC,489,-1.02,-97.8,21.2,-5.9,79,493,0.00,2.28,0.00,0.000,6,0.000,0.031,2681,2041,3584
$GC,690,-1.02,-97.8,33.6,-7.1,97,694,0.00,2.35,0.00,0.000,4,0.000,0.050,2670,3443,3584
$GC,907,-1.02,-97.8,50.9,-7.5,116,911,0.00,2.25,0.00,0.000,6,0.000,0.029,2670,2032,3584
$GC,1240,-1.02,-97.8,75.5,-7.4,146,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2031,3584
$GC,1572,-1.02,-97.8,99.1,-6.9,177,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2030,3584
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1661,-0.20,0.0,105.3,7.0,185,1741,0.90,0.00,75.90,0.904,6,0.122,0.000,2948,2204,3181
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1747,1.02,97.8,107.3,0.0,193,1826,1.20,0.00,75.55,0.786,6,0.068,0.000,3346,2204,2782
$GC,2145,1.02,99.6,72.2,9.9,231,2149,0.00,2.35,0.00,0.000,4,0.000,0.049,3346,3598,2781
$GC,2164,1.02,99.6,70.1,10.1,232,2169,0.00,2.28,0.00,0.000,6,0.000,0.029,3357,2199,2781
$GC,2497,1.02,101.1,36.9,9.9,262,2503,0.00,0.00,4.25,0.632,6,0.000,0.000,3357,2198,2768
$GC,2700,1.03,105.6,16.4,9.7,284,2712,0.00,2.30,5.12,0.707,4,0.000,0.041,3367,797,2750
$GC,2750,1.07,139.1,12.2,7.7,292,2784,0.00,2.30,26.52,0.829,6,0.000,0.035,3367,2194,2612
$GC,2855,1.24,279.8,6.1,0.4,310,2966,0.15,2.55,103.72,0.736,4,0.056,0.048,3444,3608,2040
$STATE,3068,end climb,NO_VERTICAL_VELOCITY
$STATE,3068,begin surface
$SM_CCo,3074,268.00,0.686,0,0,204,730.26
$SM_GC,1.19,9.93,0.00,0.00,0.038,0.000,0.000,52,2035,198,-9.22,-0.34,731.98
$IRIDIUM_FIX,4751.72,-12340.51,120797,020219
$TT8_MAMPS,0.026845
$HUMID,1661
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,40.5
$24V_AH,24.2,2.075
$10V_AH,10.7,4.433
$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,22.400,24.075,291.075,268.000,0.000,23.833,42.861,132.082,0.250,0.000,0.000,31.006,523.891,1543.329,604.667,715.837,426.088,33.326,979.473,0.000,711.797,0.000,2.508
$DEVICE_MAMPS,198.653,61.360,903.526,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,246.912,0.000,587.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,348
$CAP_FILE_SIZE,37875,0
$CFSIZE,260165632,227565568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,043426,4807.531,-12223.387,8,1.9,13,18.3