version: 66.07
glider: 33
mission: 16
dive: 6
start: 5 6 110 23 21 57
data:
$ID,33
$MISSION,16
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,870
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-216257
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,3126
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.784487
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$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,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,060510,231658,4807.837,-12223.080,12,3.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.0
$GPS2,060510,232104,4807.822,-12223.068,12,3.0,31,18.3
$SPEED_LIMITS,0.100,0.358
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.345
$KALMAN_X,-979.7,-315.2,-94.3,1650.9,-222.8
$KALMAN_Y,571.5,454.4,190.2,-1464.5,-71.6
$MHEAD_RNG_PITCHd_Wd,146.4,1525,-12.4,-10.000
$D_GRID,150
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.14,-293.3,0.0,0.0,0,93,0.00,0.00,-75.90,0.000,2,0.000,0.000,22,2004,1155,0,0,0,0,0,0
$GC,95,-1.14,-293.3,3.3,-5.6,15,292,7.80,2.50,-181.30,0.000,4,0.206,0.117,1469,3408,3982,0,0,0,0,0,0
$GC,607,-1.14,-293.3,37.3,-8.8,94,611,0.00,2.38,0.00,0.000,6,0.000,0.097,1468,1998,3983,0,0,1,0,0,0
$GC,740,-1.14,-293.3,48.9,-8.8,106,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,1998,3983,0,0,0,0,0,0
$GC,867,-1.14,-293.3,59.5,-8.6,118,871,0.00,2.47,0.00,0.000,4,0.000,0.119,1468,3407,3983,0,0,0,0,0,0
$GC,916,-1.14,-293.3,63.9,-9.6,122,921,0.00,2.35,0.00,0.000,6,0.000,0.094,1469,1997,3983,0,0,1,0,0,0
$GC,1050,-1.14,-293.3,74.2,-7.7,134,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,1997,3983,0,0,0,0,0,0
$GC,1177,-1.14,-293.3,84.3,-7.5,146,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,1997,3983,0,0,0,0,0,0
$GC,1304,-1.14,-293.3,94.3,-8.2,158,1308,0.00,2.47,0.00,0.000,4,0.000,0.122,1468,3408,3983,0,0,0,0,0,0
$GC,1335,-1.14,-293.3,96.8,-7.3,160,1342,0.00,2.38,0.00,0.000,6,0.000,0.094,1468,2008,3983,0,0,1,0,0,0
$STATE,1436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1436,begin apogee
$GC,1439,-0.31,0.0,104.4,7.4,170,1624,0.80,0.00,180.32,0.879,6,0.114,0.000,1652,2007,3126,0,0,0,0,0,0
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1626,1.14,293.3,111.8,0.0,188,1842,1.35,2.70,205.18,0.852,4,0.082,0.124,1969,596,2132,0,0,0,0,0,0
$GC,1920,1.14,293.3,81.4,17.2,216,1927,0.00,2.50,0.00,0.000,6,0.000,0.104,1969,1988,2132,0,0,1,0,0,0
$GC,2053,1.14,293.3,60.1,15.4,229,2058,0.00,2.50,0.00,0.000,4,0.000,0.122,1969,593,2132,0,0,0,0,0,0
$GC,2092,1.14,293.3,53.6,16.3,232,2097,0.00,2.47,0.00,0.000,6,0.000,0.104,1969,2010,2132,0,0,1,0,0,0
$GC,2225,1.14,293.3,32.7,15.5,244,2229,0.00,2.55,0.00,0.000,4,0.000,0.122,1969,589,2132,0,0,0,0,0,0
$GC,2256,1.14,293.3,27.6,15.9,246,2263,0.00,2.45,0.00,0.000,6,0.000,0.104,1969,1992,2132,0,0,1,0,0,0
$GC,2394,1.14,293.3,8.3,10.7,266,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1991,2132,0,0,0,0,0,0
$GC,2466,1.61,679.4,4.7,1.2,279,2543,0.38,0.00,73.47,0.795,2,0.077,0.000,2075,1991,1768,0,0,0,0,0,0
$STATE,2544,end climb,SURFACE_DEPTH_REACHED
$STATE,2544,begin surface coast
$FINISH,3.7,1.014534
$STATE,2825,end surface coast,CONTROL_FINISHED_OK
$STATE,2825,begin surface
$SM_CCo,2839,318.40,0.782,0,0,179,870.03
$SM_GC,1.81,0.00,0.00,318.40,0.000,0.000,0.782,26,1992,179,-7.79,-0.23,870.03
$IRIDIUM_FIX,4748.51,-12214.67,301011,161616
$TT8_MAMPS,0.02247
$HUMID,1078085797
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.6,18.3
$ALTIM_BOTTOM_PING,80.1,43.8
$24V_AH,24.4,2.013
$10V_AH,10.5,1.189
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.025,29.725,458.975,318.400,0.000,29.112,29.481,104.473,1.250,0.000,33.594,478.043,1175.019,890.710,836.497,40.005,33.333,1323.975,0.000,597.417,0.000,10.206,0.000
$DEVICE_MAMPS,206.089,124.150,878.982,782.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.490,0.000,523.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,16877,344
$CAP_FILE_SIZE,51048,0
$CFSIZE,260280320,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,070510,001520,4807.418,-12222.926,12,1.4,12,18.3