version: 66.07
glider: 33
mission: 10
dive: 8
start: 3 17 110 1 3 50
data:
$ID,33
$MISSION,10
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,4005
$D_NO_BLEED,200
$D_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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$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,150
$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,650
$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,-206497.81
$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,1604
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$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,1730
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,163
$VBD_MAX,3981
$C_VBD,2618
$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,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.523935
$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
$GPS1,170310,005916,4808.626,-12223.738,10,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-55.0
$GPS2,170310,010258,4808.712,-12223.791,11,2.1,30,18.4
$SPEED_LIMITS,0.067,0.230
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,-0.203
$KALMAN_X,-1406.0,-426.7,-99.0,701.3,-491.6
$KALMAN_Y,3430.1,1023.1,243.9,-2931.9,933.2
$MHEAD_RNG_PITCHd_Wd,133.6,3318,-12.3,-6.667
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.83,-146.6,0.0,0.0,0,128,0.00,0.00,-111.03,0.000,2,0.000,0.000,19,1741,1624,0,0,0,0,0,0
$GC,130,-0.83,-146.6,3.3,-2.4,22,231,7.90,0.00,-86.10,0.000,6,0.221,0.000,1416,1742,3116,0,0,0,0,0,0
$GC,298,-0.83,-146.6,15.1,-9.2,54,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,1742,3116,0,0,0,0,0,0
$GC,374,-0.83,-146.6,22.9,-11.2,66,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,1742,3116,0,0,0,0,0,0
$GC,501,-0.83,-146.6,36.6,-11.5,78,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,1742,3116,0,0,0,0,0,0
$GC,628,-0.83,-146.6,49.9,-10.0,90,633,0.00,2.53,0.00,0.000,4,0.000,0.129,1417,3132,3116,0,0,0,0,0,0
$GC,656,-0.83,-146.6,52.9,-10.9,92,660,0.00,2.47,0.00,0.000,6,0.000,0.114,1417,1727,3116,0,0,1,0,0,0
$GC,794,-0.83,-146.6,66.7,-10.1,105,798,0.00,2.53,0.00,0.000,4,0.000,0.129,1416,318,3116,0,0,0,0,0,0
$GC,821,-0.83,-146.6,69.6,-11.0,107,826,0.00,2.42,0.00,0.000,6,0.000,0.109,1416,1720,3116,0,0,1,0,0,0
$GC,960,-0.83,-146.6,82.3,-8.8,120,961,0.00,0.00,0.00,0.000,6,0.000,0.000,1416,1729,3116,0,0,0,0,0,0
$STATE,1012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1012,begin apogee
$GC,1016,-0.26,0.0,87.3,8.9,125,1125,0.57,0.00,104.72,0.881,6,0.124,0.000,1544,1678,2617,0,0,0,0,0,0
$STATE,1125,end apogee,CONTROL_FINISHED_OK
$STATE,1125,begin climb
$GC,1127,0.83,146.6,91.8,0.0,136,1235,1.08,0.00,104.75,0.859,6,0.099,0.000,1786,1678,2121,0,0,0,0,0,0
$GC,1361,1.09,359.7,93.7,0.2,159,1523,0.22,2.72,150.55,0.854,4,0.087,0.132,1849,3090,1399,0,0,0,0,0,0
$GC,1571,1.09,359.7,75.1,13.2,179,1578,0.00,2.60,0.00,0.000,6,0.000,0.112,1849,1683,1399,0,0,1,0,0,0
$GC,1705,1.09,359.7,57.2,13.4,192,1709,0.00,2.58,0.00,0.000,4,0.000,0.129,1849,268,1399,0,0,0,0,0,0
$GC,1748,1.09,359.7,51.0,13.9,195,1755,0.00,2.53,0.00,0.000,6,0.000,0.112,1848,1679,1398,0,0,1,0,0,0
$GC,1882,1.09,359.7,33.1,12.7,208,1886,0.00,2.58,0.00,0.000,4,0.000,0.132,1849,3089,1399,0,0,0,0,0,0
$GC,1932,1.09,359.7,26.9,11.2,212,1936,0.00,2.50,0.00,0.000,6,0.000,0.114,1849,1681,1399,0,0,1,0,0,0
$GC,2068,1.09,359.7,9.1,14.7,231,2074,0.00,2.55,0.00,0.000,4,0.000,0.129,1848,267,1399,0,0,0,0,0,0
$GC,2096,1.10,363.1,7.6,6.6,236,2107,0.00,2.45,4.28,0.579,6,0.000,0.109,1849,1683,1387,0,0,1,0,0,0
$GC,2174,1.27,506.9,6.6,2.3,250,2282,0.12,2.65,99.82,0.809,4,0.107,0.132,1888,3090,901,0,0,1,0,0,0
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$FINISH,2.6,1.019880
$STATE,2304,end surface coast,CONTROL_FINISHED_OK
$STATE,2304,begin surface
$SM_CCo,2321,99.30,0.792,0,0,415,650.09
$SM_GC,1.18,0.00,0.00,99.30,0.000,0.000,0.792,26,1726,415,-7.26,-0.11,650.09
$IRIDIUM_FIX,4751.72,-12214.67,090911,181815
$TT8_MAMPS,0.022243
$HUMID,1077989023
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.5
$ALTIM_BOTTOM_PING,80.5,26.2
$24V_AH,24.2,46.231
$10V_AH,10.3,8.107
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,18.025,35.700,464.125,99.300,0.000,24.432,29.192,85.789,1.500,0.000,31.239,383.144,950.464,663.772,633.326,28.943,33.335,1011.858,0.000,457.909,0.000,12.997,0.000
$DEVICE_MAMPS,220.987,168.844,881.465,792.077,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.092,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,10226,275
$CAP_FILE_SIZE,45266,0
$CFSIZE,260280320,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,170310,014506,4808.699,-12223.791,12,1.7,22,18.4