version: 66.03
glider: 148
mission: 2
dive: 21
start: 3 13 108 11 55 55
data:
$ID,148
$MISSION,2
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,168
$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,70
$T_MISSION,80
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,52128
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1632.0055
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2902
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3445
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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
$PRESSURE_YINT,-16.508385
$PRESSURE_SLOPE,0.0001637
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043992815
$SEABIRD_T_H,0.00064238382
$SEABIRD_T_I,2.7016365e-05
$SEABIRD_T_J,3.0340441e-06
$SEABIRD_C_G,-10.010528
$SEABIRD_C_H,1.1459081
$SEABIRD_C_I,-0.0015769247
$SEABIRD_C_J,0.00021306775
$GPS1,115121,4807.400,-12223.215,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.7
$GPS2,115457,4807.391,-12223.194,11,1.2,11,18.3
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.240
$KALMAN_X,4241.9,-570.9,123.2,-4811.2,70.3
$KALMAN_Y,-2180.3,312.6,45.7,2718.9,292.7
$MHEAD_RNG_PITCHd_Wd,157.8,763,-14.0,-8.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.06,-146.6,0.0,0.0,0,82,0.00,0.00,-61.22,0.000,2,0.000,0.000,419,2105,3025
$GC,84,-1.06,-146.6,3.3,-3.2,8,138,12.50,2.38,-34.08,0.000,4,0.178,0.076,2668,3480,3951
$GC,304,-1.06,-146.6,24.4,-11.0,45,313,0.00,2.38,0.00,0.000,6,0.000,0.046,2668,2084,3952
$GC,378,-1.06,-146.6,32.6,-10.3,58,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2084,3952
$GC,520,-1.06,-146.6,48.1,-11.4,83,526,0.00,2.40,0.00,0.000,4,0.000,0.061,2668,686,3952
$GC,611,-1.06,-146.6,59.5,-12.8,99,617,0.00,2.33,0.00,0.000,6,0.000,0.045,2668,2078,3952
$GC,749,-1.06,-146.6,75.9,-11.6,124,757,0.00,2.42,0.00,0.000,4,0.000,0.061,2668,687,3952
$GC,795,-1.06,-146.6,81.6,-12.7,132,804,0.00,2.38,0.00,0.000,6,0.000,0.045,2668,2088,3952
$GC,941,-1.06,-146.6,97.8,-11.3,157,946,0.00,2.42,0.00,0.000,4,0.000,0.061,2668,678,3952
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1006,-0.31,0.0,105.6,12.5,168,1108,0.77,0.00,97.38,0.673,6,0.114,0.000,2828,2011,3445
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1110,1.06,146.6,109.9,0.0,184,1231,1.38,0.00,114.03,0.649,6,0.083,0.000,3127,2012,2847
$GC,1365,1.06,146.6,82.6,13.5,227,1371,0.00,2.42,0.00,0.000,4,0.000,0.064,3127,3408,2846
$GC,1390,1.06,146.6,79.2,14.2,231,1396,0.00,2.38,0.00,0.000,6,0.000,0.048,3128,2003,2846
$GC,1527,1.06,146.6,60.6,12.6,256,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2003,2845
$GC,1670,1.06,146.6,43.3,12.5,281,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2003,2846
$GC,1809,1.06,146.6,25.9,12.3,306,1816,0.00,2.47,0.00,0.000,4,0.000,0.073,3128,594,2846
$GC,1845,1.06,146.6,21.2,13.0,312,1853,0.00,2.40,0.00,0.000,6,0.000,0.048,3127,1999,2846
$GC,1921,1.06,146.6,12.7,9.8,325,1928,0.00,2.45,0.00,0.000,4,0.000,0.064,3128,3399,2846
$GC,1963,1.06,146.6,8.9,8.9,332,1971,0.00,2.40,0.00,0.000,6,0.000,0.049,3128,1996,2846
$GC,2039,1.20,260.2,5.0,3.8,345,2108,0.15,0.00,66.55,0.613,6,0.061,0.000,3175,1996,2384
$STATE,2120,end climb,SURFACE_DEPTH_REACHED
$STATE,2120,begin surface coast
$FINISH,1.2,1.018076
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2261,105.03,0.601,0,0,1610,450.13
$SM_GC,1.86,0.00,0.00,105.03,0.000,0.000,0.601,419,2103,1610,-11.43,0.37,450.13
$IRIDIUM_FIX,4751.72,-12221.84,070697,111124
$TT8_MAMPS,0.027612
$HUMID,1476
$INTERNAL_PRESSURE,8.31087
$TCM_TEMP,12.20
$XPDR_PINGS,16
$24V_AH,23.7,2.692
$10V_AH,10.1,1.843
$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,26.825,33.650,277.950,105.025,0.000,25.006,29.124,93.779,4.000,0.000,0.000,13.391,582.629,259.645,379.112,1166.104,216.626,33.320,846.146,0.000,1178.448,0.000,0.462
$DEVICE_MAMPS,177.944,75.933,673.426,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.287,180.879,261.322,440.783,927.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31960,378
$CAP_FILE_SIZE,39326,0
$CFSIZE,260165632,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130308,123608,4807.193,-12223.117,8,1.4,13,18.3