version: 66.04
glider: 146
mission: 3
dive: 2
start: 11 12 108 22 36 55
data:
$ID,146
$MISSION,3
$DIVE,2
$D_SURF,4
$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,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,52158
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,2100
$TGT_DEFAULT_LON,-15800
$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,-18296.322
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2646
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.114069
$PRESSURE_SLOPE,0.000115925
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,223235,4808.456,-12223.036,13,99.0,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.7
$GPS2,223633,4808.483,-12223.042,13,1.5,13,18.3
$SPEED_LIMITS,0.143,0.295
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,160.6,2747,-14.9,-10.000
$D_GRID,92
$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,-1.17,-195.5,0.0,0.0,0,81,0.00,0.00,-62.88,0.000,2,0.000,0.000,476,2197,2023
$GC,85,-1.17,-195.5,3.1,-3.2,8,165,10.95,2.40,-64.25,0.000,4,0.194,0.066,2383,815,3953
$GC,198,-0.97,-195.5,7.0,-3.8,23,207,0.20,2.25,0.00,0.000,6,0.107,0.028,2428,2210,3954
$GC,276,-0.91,-195.5,9.1,-2.8,36,285,0.00,2.28,0.00,0.000,4,0.000,0.040,2428,3586,3954
$GC,354,-0.91,-195.5,11.6,-3.4,49,363,0.00,2.25,0.00,0.000,6,0.000,0.037,2428,2213,3954
$GC,432,-0.91,-195.5,14.4,-4.3,62,440,0.00,2.40,0.00,0.000,4,0.000,0.056,2428,810,3954
$GC,526,-0.91,-195.5,19.4,-5.5,78,532,0.00,2.22,0.00,0.000,6,0.000,0.028,2428,2193,3954
$GC,602,-0.91,-195.5,23.4,-5.6,91,611,0.00,2.40,0.00,0.000,4,0.000,0.062,2428,797,3954
$GC,659,-0.91,-195.5,26.0,-5.0,100,667,0.00,2.25,0.00,0.000,6,0.000,0.028,2428,2193,3954
$GC,737,-0.94,-195.5,29.6,-4.7,113,744,0.00,2.38,0.00,0.000,4,0.000,0.055,2428,808,3954
$GC,790,-0.94,-195.5,32.0,-4.6,122,798,0.00,2.25,0.00,0.000,6,0.000,0.028,2428,2203,3954
$GC,897,-0.99,-195.5,36.7,-3.7,136,906,0.00,2.40,0.00,0.000,4,0.000,0.055,2428,804,3954
$GC,957,-1.02,-195.5,39.7,-5.2,146,965,0.00,2.25,0.00,0.000,6,0.000,0.028,2429,2201,3954
$GC,1064,-1.07,-195.5,44.5,-4.9,160,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2202,3954
$GC,1171,-1.11,-195.5,49.6,-4.4,174,1180,0.12,2.40,0.00,0.000,4,0.060,0.055,2390,804,3954
$GC,1251,-1.07,-195.5,54.3,-6.7,187,1257,0.10,2.22,0.00,0.000,6,0.104,0.034,2411,2208,3954
$GC,1359,-1.07,-195.5,60.2,-5.3,201,1365,0.00,2.38,0.00,0.000,4,0.000,0.056,2411,803,3954
$GC,1419,-1.07,-195.5,63.5,-5.4,211,1425,0.00,2.22,0.00,0.000,6,0.000,0.034,2411,2209,3954
$GC,1527,-1.07,-195.5,68.7,-5.0,225,1533,0.00,2.38,0.00,0.000,4,0.000,0.056,2411,804,3954
$GC,1598,-1.07,-195.5,72.4,-5.3,237,1604,0.00,2.22,0.00,0.000,6,0.000,0.034,2411,2209,3954
$GC,1707,-1.07,-195.5,77.5,-4.5,251,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2210,3954
$GC,1815,-1.07,-195.5,82.7,-4.7,263,1819,0.00,2.40,0.00,0.000,4,0.000,0.056,2411,797,3954
$GC,1879,-1.07,-195.5,85.9,-5.2,268,1883,0.00,2.22,0.00,0.000,6,0.000,0.027,2411,2200,3954
$STATE,2011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2011,begin apogee
$GC,2018,-0.31,0.0,92.3,4.6,280,2128,0.73,0.00,104.85,0.696,6,0.075,0.000,2575,2202,3420
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2132,1.17,195.5,93.4,0.0,291,2293,1.38,2.53,153.20,0.667,4,0.050,0.063,2903,800,2622
$GC,2324,1.02,195.5,75.4,14.6,309,2331,0.17,2.28,0.00,0.000,6,0.116,0.030,2870,2201,2618
$GC,2432,0.99,195.5,61.2,12.0,323,2438,0.00,2.42,0.00,0.000,4,0.000,0.060,2870,798,2616
$GC,2492,0.94,195.5,53.8,12.6,333,2498,0.00,2.28,0.00,0.000,6,0.000,0.037,2870,2206,2616
$GC,2600,0.90,195.5,40.9,11.6,347,2606,0.12,2.42,0.00,0.000,4,0.110,0.058,2845,798,2616
$GC,2652,0.90,195.5,34.7,11.4,356,2660,0.00,2.28,0.00,0.000,6,0.000,0.029,2845,2193,2616
$GC,2761,0.94,195.5,23.6,10.3,373,2769,0.00,2.40,0.00,0.000,4,0.000,0.059,2845,812,2616
$GC,2855,0.98,196.7,13.9,10.0,389,2863,0.00,2.25,0.00,0.000,6,0.000,0.030,2845,2192,2616
$GC,2933,1.15,263.9,7.3,7.7,402,2997,0.17,2.42,55.83,0.622,4,0.059,0.057,2896,811,2342
$GC,3081,1.82,566.7,4.9,-0.5,424,3265,0.57,2.28,176.00,0.610,2,0.037,0.029,3049,2212,1452
$STATE,3265,end climb,SURFACE_DEPTH_REACHED
$STATE,3266,begin surface coast
$FINISH,3.9,1.013201
$STATE,3292,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3292,begin surface
$SM_CCo,3314,165.25,0.594,0,0,607,690.03
$SM_GC,1.62,0.00,0.00,165.25,0.000,0.000,0.594,479,2212,607,-9.97,0.34,690.03
$IRIDIUM_FIX,4751.72,-12220.85,060298,222215
$TT8_MAMPS,0.025311
$HUMID,1794
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,13.90
$XPDR_PINGS,382
$24V_AH,23.7,65.567
$10V_AH,10.2,54.393
$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,25.375,69.725,489.875,165.250,0.000,0.000,0.000,0.000,96.500,0.000,0.000,14.729,707.760,575.724,624.725,1496.509,151.986,0.000,1274.646,0.000,1503.628,0.000,9.421,0.000
$DEVICE_MAMPS,194.051,65.962,696.436,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.025,328.220,437.913,604.728,1242.221,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35105,451
$CAP_FILE_SIZE,76305,0
$CFSIZE,260165632,231444480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121108,233605,4808.298,-12223.054,7,2.6,27,18.3