version: 66.07
glider: 5
mission: 9
dive: 3
start: 3 3 110 22 22 43
data:
$ID,5
$MISSION,9
$DIVE,3
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$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,990
$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,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-111164.48
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2794
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,3900
$C_ROLL_CLIMB,3900
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.789665
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$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,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,030310,221656,4805.389,-12221.678,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.9
$GPS2,030310,222154,4805.323,-12221.606,30,1.3,41,18.3
$SPEED_LIMITS,0.115,0.230
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.182
$KALMAN_X,567.4,447.7,405.1,-493.7,839.7
$KALMAN_Y,-804.3,-629.5,-568.0,1010.7,-1190.9
$MHEAD_RNG_PITCHd_Wd,304.0,3551,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.6,0.0,0.0,0,78,0.00,0.00,-60.40,0.000,2,0.000,0.000,419,3903,2116,0,0,0,0,0,0
$GC,81,-1.06,-146.6,2.1,-2.1,11,162,11.65,0.00,-65.18,0.000,6,0.160,0.000,2557,3903,3836,0,0,0,0,0,0
$GC,231,-1.06,-146.6,14.1,-11.3,37,237,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,3902,3837,0,0,0,0,0,0
$GC,310,-1.06,-146.6,22.9,-10.5,49,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,3903,3837,0,0,0,0,0,0
$GC,501,-1.06,-146.6,45.1,-11.2,67,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,3903,3837,0,0,0,0,0,0
$GC,698,-1.06,-146.6,65.6,-10.0,79,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,3902,3837,0,0,0,0,0,0
$GC,1009,-1.06,-146.6,97.3,-10.2,94,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,3902,3837,0,0,0,0,0,0
$GC,1325,-1.06,-146.6,123.8,-1.7,122,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,3903,3837,0,0,0,0,0,0
$STATE,1645,end dive,NO_VERTICAL_VELOCITY
$STATE,1645,begin apogee
$GC,1649,-0.33,0.0,123.8,0.0,152,1771,0.73,0.00,117.55,0.836,6,0.071,0.000,2720,3903,3239,0,0,0,0,0,0
$STATE,1772,end apogee,CONTROL_FINISHED_OK
$STATE,1772,begin climb
$GC,1774,1.06,146.6,123.6,0.0,164,1895,1.40,0.00,116.93,0.802,6,0.073,0.000,3019,3903,2641,0,0,0,0,0,0
$GC,2206,1.06,146.6,82.5,10.1,198,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,3903,2641,0,0,0,0,0,0
$GC,2515,1.06,146.6,51.3,10.2,213,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,3903,2641,0,0,0,0,0,0
$GC,2833,1.06,146.6,20.5,8.9,242,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,3902,2640,0,0,0,0,0,0
$GC,3026,1.15,206.7,5.9,4.8,277,3078,0.12,0.00,47.47,0.752,6,0.071,0.000,3056,3903,2395,0,0,0,0,0,0
$GC,3146,1.51,427.0,5.3,-0.0,298,3221,0.25,0.00,70.90,0.750,2,0.052,0.000,3129,3903,2013,0,0,0,0,0,0
$STATE,3221,end climb,SURFACE_DEPTH_REACHED
$STATE,3222,begin surface coast
$FINISH,1.1,1.018185
$STATE,3376,end surface coast,CONTROL_FINISHED_OK
$STATE,3376,begin surface
$SM_CCo,3397,160.35,0.725,0,0,793,600.00
$SM_GC,1.00,0.00,0.00,160.35,0.000,0.000,0.725,423,3903,793,-10.90,0.08,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1078447087
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,23.9,77.698
$10V_AH,9.9,34.567
$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,26.150,0.000,352.850,160.350,0.000,39.092,31.651,110.657,2.750,0.000,41.402,507.764,1618.887,483.299,1157.554,93.005,31.415,890.482,0.000,942.980,0.000,21.723,0.000
$DEVICE_MAMPS,160.303,0.000,836.030,724.815,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.765,258.643,867.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,346040
$DATA_FILE_SIZE,20277,340
$CAP_FILE_SIZE,40216,0
$CFSIZE,254472192,252456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030310,232258,4805.205,-12221.565,9,3.2,29,18.3