version: 66.03
glider: 135
mission: 2
dive: 21
start: 4 1 108 14 4 43
data:
$ID,135
$MISSION,2
$DIVE,21
$D_SURF,5.5999999
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51505
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133331
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,690
$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,-36748.953
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,297
$PITCH_MAX,3602
$C_PITCH,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,329
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3510
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-0.74758691
$PRESSURE_SLOPE,0.0001160407
$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,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
$DEVICE2,35
$DEVICE3,-1
$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,0.0043428433
$SEABIRD_T_H,0.0006329699
$SEABIRD_T_I,2.4847595e-05
$SEABIRD_T_J,2.748096e-06
$SEABIRD_C_G,-9.89151
$SEABIRD_C_H,1.1238965
$SEABIRD_C_I,-0.0014102412
$SEABIRD_C_J,0.00019032255
$GPS1,135745,4807.672,-12223.541,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.5
$GPS2,140345,4807.678,-12223.575,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.228
$KALMAN_X,945.8,-4.9,-43.5,-1930.6,-9.9
$KALMAN_Y,-996.9,-141.8,44.1,311.7,29.4
$MHEAD_RNG_PITCHd_Wd,132.7,1443,-17.5,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.6,0.0,0.0,0,128,0.00,0.00,-105.30,0.000,2,0.000,0.000,296,1999,3547
$GC,131,-1.27,-146.6,3.1,-2.8,20,161,12.52,2.60,-10.07,0.000,4,0.160,0.078,2463,3398,3894
$GC,407,-1.27,-146.6,16.0,-7.3,82,414,0.00,2.58,0.00,0.000,6,0.000,0.061,2463,1989,3894
$GC,481,-1.27,-146.6,22.3,-8.4,98,487,0.00,2.55,0.00,0.000,4,0.000,0.063,2463,590,3894
$GC,528,-1.27,-146.6,25.9,-7.7,108,534,0.00,2.45,0.00,0.000,6,0.000,0.039,2463,2002,3894
$GC,599,-1.27,-146.6,31.3,-7.4,124,605,0.00,2.60,0.00,0.000,4,0.000,0.062,2463,585,3894
$GC,620,-1.27,-146.6,33.0,-7.8,128,627,0.00,2.45,0.00,0.000,6,0.000,0.038,2463,1999,3894
$GC,690,-1.27,-146.6,38.8,-8.3,144,696,0.00,0.00,-0.05,0.000,6,0.000,0.000,2463,2000,3899
$GC,762,-1.27,-146.6,44.7,-8.4,160,768,0.00,2.58,0.00,0.000,4,0.000,0.062,2463,589,3899
$GC,806,-1.27,-146.6,48.5,-8.8,169,812,0.00,2.45,0.00,0.000,6,0.000,0.039,2463,1998,3899
$GC,950,-1.27,-146.6,59.9,-8.1,200,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2000,3899
$GC,1094,-1.27,-146.6,71.3,-7.6,231,1100,0.00,2.58,0.00,0.000,4,0.000,0.062,2463,591,3899
$GC,1137,-1.27,-146.6,75.0,-8.5,240,1143,0.00,2.45,0.00,0.000,6,0.000,0.039,2463,2007,3899
$GC,1282,-1.27,-146.6,86.3,-8.2,271,1288,0.00,2.60,0.00,0.000,4,0.000,0.061,2463,587,3899
$GC,1303,-1.27,-146.6,88.2,-7.8,275,1309,0.00,2.45,0.00,0.000,6,0.000,0.038,2463,2001,3899
$GC,1449,-1.27,-146.6,99.5,-8.0,306,1458,0.00,2.58,0.00,0.000,4,0.000,0.061,2463,584,3899
$GC,1510,-1.27,-146.6,104.7,-8.3,318,1517,0.00,2.45,0.00,0.000,6,0.000,0.038,2463,2004,3899
$STATE,1520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1520,begin apogee
$GC,1526,-0.31,0.0,105.7,8.5,320,1610,1.08,0.00,76.15,0.709,6,0.098,0.000,2677,1942,3510
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1613,1.27,146.6,107.6,0.0,336,1738,1.65,0.00,115.78,0.690,6,0.065,0.000,3026,1943,2911
$GC,1875,1.27,146.6,83.3,11.8,390,1882,0.00,2.60,0.00,0.000,4,0.000,0.064,3026,3350,2912
$GC,1914,1.27,146.6,78.7,12.0,398,1920,0.00,2.55,0.00,0.000,6,0.000,0.061,3026,1958,2912
$GC,2058,1.27,146.6,62.2,11.5,429,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1958,2912
$GC,2200,1.27,146.6,46.2,11.1,460,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1957,2911
$GC,2334,1.27,146.6,31.2,10.7,491,2340,0.00,2.55,0.00,0.000,4,0.000,0.064,3026,3348,2912
$GC,2372,1.27,146.6,26.9,11.2,499,2378,0.00,2.55,0.00,0.000,6,0.000,0.061,3026,1950,2912
$GC,2444,1.27,146.6,19.2,10.0,515,2451,0.00,2.58,0.00,0.000,4,0.000,0.064,3026,537,2912
$GC,2487,1.27,146.6,14.4,11.0,524,2493,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1960,2912
$GC,2559,1.27,146.6,6.2,11.1,540,2565,0.00,2.53,0.00,0.000,4,0.000,0.063,3026,3345,2912
$STATE,2569,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,2.8,1.019265
$STATE,2631,end surface coast,CONTROL_FINISHED_OK
$STATE,2631,begin surface
$SM_CCo,2655,352.35,0.607,1,0,697,690.03
$SM_GC,0.81,0.00,0.00,352.35,0.000,0.000,0.607,295,1987,697,-11.29,-0.37,690.03
$IRIDIUM_FIX,4751.72,-12340.51,260697,131356
$TT8_MAMPS,0.029146
$HUMID,1454
$INTERNAL_PRESSURE,7.92023
$TCM_TEMP,17.20
$XPDR_PINGS,4
$24V_AH,23.6,2.892
$10V_AH,10.1,1.258
$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,27.825,55.725,191.925,352.350,0.000,27.757,34.159,189.740,2.250,0.000,0.000,16.036,835.369,492.930,670.537,1001.007,390.768,33.321,1177.395,0.000,994.950,0.000,11.218
$DEVICE_MAMPS,160.303,88.205,709.475,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.482,681.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25390,556
$CAP_FILE_SIZE,58215,0
$CFSIZE,260165632,258244608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,010408,145544,4807.453,-12223.295,11,1.7,11,18.3