version: 66.04
glider: 133
mission: 2
dive: 5
start: 8 25 109 22 23 4
data:
$ID,133
$MISSION,2
$DIVE,5
$D_SURF,3
$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,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,4
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51845
$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,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-78300.023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2760
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3370
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.515852
$PRESSURE_SLOPE,0.0001156489
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4.9000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$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,0.0043775016
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,221355,4807.582,-12223.221,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.0
$GPS2,222213,4807.663,-12223.266,12,1.4,29,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,-0.201
$KALMAN_X,-418.5,-309.3,-203.4,306.0,31.7
$KALMAN_Y,448.1,525.5,414.4,-1229.2,-306.4
$MHEAD_RNG_PITCHd_Wd,140.7,1272,-22.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.66,-97.3,0.0,0.0,0,79,0.00,0.00,-61.67,0.000,2,0.000,0.000,398,1883,3631
$GC,83,-1.66,-97.3,4.0,-6.2,10,103,10.98,0.00,-2.25,0.000,6,0.143,0.000,2391,1885,3767
$GC,170,-1.66,-97.3,21.3,-13.5,28,176,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1885,3768
$GC,242,-1.66,-97.3,31.3,-13.7,44,249,0.00,2.47,0.00,0.000,4,0.000,0.053,2391,491,3768
$GC,302,-1.66,-97.3,40.2,-15.0,57,309,0.00,2.38,0.00,0.000,6,0.000,0.028,2391,1900,3768
$GC,441,-1.66,-97.3,60.6,-14.7,88,447,0.00,2.50,0.00,0.000,4,0.000,0.054,2391,498,3768
$GC,472,-1.66,-97.3,65.5,-16.0,94,479,0.00,2.40,0.00,0.000,6,0.000,0.030,2391,1898,3768
$GC,617,-1.66,-97.3,87.2,-15.5,125,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1902,3767
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,755,-0.33,0.0,107.1,14.8,154,843,1.40,0.00,82.20,0.829,6,0.086,0.000,2680,2019,3370
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,844,begin climb
$GC,847,1.66,97.3,111.3,0.0,169,941,1.95,2.45,82.25,0.814,4,0.044,0.044,3127,3375,2973
$GC,993,1.71,128.4,105.0,7.9,196,1029,0.00,2.42,27.35,0.773,6,0.000,0.036,3127,2008,2845
$GC,1163,1.71,128.4,87.4,10.8,232,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2009,2845
$GC,1302,1.71,128.4,71.5,12.0,263,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2009,2845
$GC,1444,1.71,128.4,55.6,11.0,294,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2008,2844
$GC,1584,1.73,138.5,41.4,9.3,325,1597,0.00,0.00,9.65,0.687,6,0.000,0.000,3127,2009,2805
$GC,1728,1.74,145.7,27.8,9.5,357,1742,0.00,2.58,7.65,0.647,4,0.000,0.057,3127,589,2776
$GC,1784,1.74,146.0,22.1,10.0,368,1791,0.00,2.42,0.00,0.000,6,0.000,0.031,3127,1989,2775
$GC,1857,1.76,159.8,15.3,9.0,384,1877,0.05,0.00,13.55,0.711,6,0.096,0.000,3146,1990,2717
$GC,1944,1.85,212.1,7.9,6.4,402,1996,0.05,2.58,44.22,0.759,4,0.094,0.057,3165,590,2505
$STATE,2069,end climb,SURFACE_DEPTH_REACHED
$STATE,2069,begin surface coast
$FINISH,0.8,1.019881
$STATE,2137,end surface coast,CONTROL_FINISHED_OK
$STATE,2137,begin surface
$SM_CCo,2163,62.35,0.753,0,0,1942,350.04
$SM_GC,2.07,0.00,0.00,62.35,0.000,0.000,0.753,399,1919,1942,-10.86,0.54,350.04
$IRIDIUM_FIX,4751.72,-12340.51,191198,212151
$TT8_MAMPS,0.026845
$HUMID,2171
$INTERNAL_PRESSURE,9.15798
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,29.5
$24V_AH,23.4,2.573
$10V_AH,10.7,0.744
$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,27.000,24.625,266.875,62.350,0.000,23.924,36.394,265.115,1.250,0.000,0.000,31.299,657.439,252.675,351.427,965.238,507.106,33.319,786.614,0.000,943.307,0.000,11.774,0.000
$DEVICE_MAMPS,143.429,56.758,829.127,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.917,668.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19098,443
$CAP_FILE_SIZE,47123,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250809,230130,4807.503,-12223.103,34,1.7,40,18.3