version: 66.04
glider: 33
mission: 3
dive: 15
start: 7 30 109 10 43 43
data:
$ID,33
$MISSION,3
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$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
$USE_BATHY,0
$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,1.023
$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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,-165304.39
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3250
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,3
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,121
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2137
$C_ROLL_CLIMB,2137
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,6
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,736
$VBD_MAX,3794
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.798624
$PRESSURE_SLOPE,0.0002686042
$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,15
$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
$DEVICE2,99
$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,0.0043575475
$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
$GPS1,103546,4807.689,-12223.643,12,99.0,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-58.5
$GPS2,104252,4807.669,-12223.642,13,6.9,32,18.3
$SPEED_LIMITS,0.115,0.230
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.191
$KALMAN_X,-3395.2,-186.7,265.1,2276.9,-729.7
$KALMAN_Y,7199.3,499.7,-227.7,-7687.9,1099.1
$MHEAD_RNG_PITCHd_Wd,127.8,1472,-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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.21,-146.6,0.0,0.0,0,157,0.00,0.00,-141.00,0.000,2,0.000,0.000,1553,2146,2995
$GC,159,-1.21,-146.6,3.0,-3.6,26,211,9.43,2.62,-32.28,0.000,4,0.196,0.104,2979,3528,3640
$GC,463,-1.21,-146.6,31.9,-10.5,70,467,0.00,2.55,0.00,0.000,6,0.000,0.087,2979,2130,3641
$GC,674,-1.21,-146.6,55.7,-11.7,88,679,0.00,2.65,0.00,0.000,4,0.000,0.109,2980,3539,3641
$GC,931,-1.21,-146.6,87.3,-12.0,99,938,0.00,2.60,0.00,0.000,6,0.000,0.092,2979,2144,3640
$STATE,1072,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1072,begin apogee
$GC,1075,-0.42,0.0,104.7,12.4,108,1203,0.98,0.00,120.68,0.837,6,0.117,0.000,3156,2142,3239
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1206,1.21,146.6,111.4,0.0,121,1332,1.92,2.75,113.85,0.817,4,0.104,0.109,3506,712,2839
$GC,1584,1.38,284.1,110.2,2.5,155,1697,0.17,2.50,106.03,0.822,6,0.082,0.074,3559,2132,2466
$GC,2005,1.38,284.1,77.1,8.7,184,2009,0.00,2.58,0.00,0.000,4,0.000,0.099,3559,718,2466
$GC,2261,1.38,284.1,53.6,8.9,195,2269,0.00,2.47,0.00,0.000,6,0.000,0.070,3559,2134,2465
$GC,2585,1.38,284.1,27.9,7.8,224,2589,0.00,2.60,0.00,0.000,4,0.000,0.099,3559,710,2465
$GC,2844,1.38,284.1,7.0,7.7,260,2850,0.00,2.45,0.00,0.000,6,0.000,0.070,3559,2140,2464
$STATE,2899,end climb,SURFACE_DEPTH_REACHED
$STATE,2899,begin surface coast
$FINISH,2.2,1.020106
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3012,320.42,0.770,0,0,1336,700.11
$SM_GC,0.80,0.00,0.00,320.42,0.000,0.000,0.770,1549,2139,1336,-7.82,0.06,700.11
$IRIDIUM_FIX,4748.51,-12224.57,241098,101032
$TT8_MAMPS,0.021476
$HUMID,2172
$INTERNAL_PRESSURE,8.32063
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,80.3,38.5
$24V_AH,23.0,3.161
$10V_AH,10.8,0.705
$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,23.050,25.775,340.550,320.425,0.000,52.727,70.759,153.554,1.250,0.000,0.000,33.722,454.539,1558.398,755.531,691.927,315.530,33.324,1150.706,0.000,628.622,0.000,10.188,0.000
$DEVICE_MAMPS,196.157,109.252,836.771,769.730,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.770,436.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12807,287
$CAP_FILE_SIZE,40703,0
$CFSIZE,260280320,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,17,3,0,0
$GPS,300709,114022,4807.586,-12223.640,14,99.0,33,18.3