version: 66.04
glider: 175
mission: 1
dive: 13
start: 9 18 109 5 49 52
data:
$ID,175
$MISSION,1
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,67
$T_MISSION,78
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51338
$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,4808
$TGT_DEFAULT_LON,-12223
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2704.0859
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3233
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.394344
$PRESSURE_SLOPE,0.0001165895
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,054406,4806.213,-12222.115,29,1.3,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.7
$GPS2,054913,4806.224,-12222.133,10,1.9,15,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.214
$KALMAN_X,-788.8,-175.7,-137.8,1136.0,80.4
$KALMAN_Y,-1567.6,-25.4,124.3,1530.8,-355.6
$MHEAD_RNG_PITCHd_Wd,317.7,1792,-13.0,-7.463
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.61,-146.6,0.0,0.0,0,19,0.00,0.00,-6.38,0.000,2,0.000,0.000,142,2114,1562
$GC,20,-0.61,-146.6,3.4,-0.0,1,142,9.98,2.20,-103.43,0.000,4,0.241,0.067,2578,3498,3832
$GC,389,-0.61,-146.6,30.0,-6.9,81,395,0.00,2.10,0.00,0.000,6,0.000,0.031,2578,2071,3835
$GC,459,-0.61,-146.6,34.6,-6.6,97,465,0.00,2.25,0.00,0.000,4,0.000,0.054,2578,3500,3834
$GC,659,-0.61,-146.6,50.3,-7.8,143,665,0.00,2.08,0.00,0.000,6,0.000,0.031,2578,2102,3836
$GC,795,-0.61,-146.6,60.9,-8.3,174,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2101,3836
$GC,929,-0.61,-146.6,72.0,-8.6,205,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2101,3837
$GC,1063,-0.61,-146.6,83.5,-8.3,236,1069,0.00,2.12,0.00,0.000,4,0.000,0.048,2578,708,3838
$GC,1103,-0.61,-146.6,87.2,-9.7,245,1109,0.00,2.12,0.00,0.000,6,0.000,0.041,2578,2097,3838
$GC,1238,-0.61,-146.6,98.8,-8.3,276,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2097,3839
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1339,-0.27,0.0,107.1,8.5,299,1451,0.38,0.00,105.82,0.607,6,0.160,0.000,2689,2097,3233
$STATE,1452,end apogee,CONTROL_FINISHED_OK
$STATE,1452,begin climb
$GC,1453,0.61,146.6,107.9,0.0,320,1565,0.93,0.00,107.60,0.571,6,0.138,0.000,2972,2097,2634
$GC,1694,0.61,146.6,78.3,14.2,371,1700,0.00,2.33,0.00,0.000,4,0.000,0.055,2972,662,2632
$GC,1725,0.61,146.6,73.8,14.8,378,1731,0.00,2.17,0.00,0.000,6,0.000,0.038,2972,2051,2631
$GC,1861,0.61,146.6,54.6,14.0,409,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2052,2631
$GC,1995,0.61,146.6,36.0,13.6,440,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2052,2631
$GC,2064,0.61,146.6,26.7,13.2,456,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2052,2632
$GC,2133,0.61,146.6,18.1,12.2,472,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2052,2631
$GC,2202,0.61,146.6,9.8,11.3,488,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2052,2631
$GC,2267,0.79,287.5,6.7,2.6,503,2337,0.20,0.00,66.57,0.538,6,0.086,0.000,3045,2051,2058
$GC,2402,1.09,537.8,5.5,-1.2,531,2446,0.28,0.00,42.10,0.525,2,0.096,0.000,3136,2053,1638
$STATE,2447,end climb,SURFACE_DEPTH_REACHED
$STATE,2447,begin surface coast
$FINISH,6.2,1.007972
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2537,30.95,0.528,0,0,1397,450.13
$SM_GC,6.21,0.00,0.00,30.95,0.000,0.000,0.528,146,2111,1397,-8.25,0.34,450.13
$IRIDIUM_FIX,4748.51,-12217.40,131298,050556
$TT8_MAMPS,0.051389
$HUMID,2268
$INTERNAL_PRESSURE,9.11208
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.1,47.7
$24V_AH,24.7,1.400
$10V_AH,10.7,0.560
$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,20.500,17.425,322.100,30.950,0.000,30.580,27.029,184.168,3.500,0.000,0.000,17.395,0.000,1164.754,421.016,995.817,294.258,33.318,883.048,0.000,813.339,0.000,5.852,0.000
$DEVICE_MAMPS,240.838,105.846,607.464,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.592,284.754,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19026,557
$CAP_FILE_SIZE,49830,0
$CFSIZE,260165632,257331200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,063328,4806.429,-12222.401,10,2.3,29,18.3