version: 66.04
glider: 5
mission: 4
dive: 7
start: 10 15 108 23 44 27
data:
$ID,5
$MISSION,4
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$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,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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-85653.07
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$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,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.906118
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,233853,4807.342,-12223.046,14,3.6,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-68.8
$GPS2,234307,4807.346,-12223.055,38,1.2,44,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.018,-0.263
$KALMAN_X,-119.1,-108.8,-60.4,506.3,7.7
$KALMAN_Y,988.6,516.2,250.0,-2804.5,120.1
$MHEAD_RNG_PITCHd_Wd,157.7,644,-18.1,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,122,0.00,0.00,-103.82,0.000,2,0.000,0.000,428,2188,3445
$GC,126,-1.44,-146.6,3.1,-5.8,18,152,10.02,2.58,-9.75,0.000,4,0.146,0.069,2329,784,3838
$GC,204,-1.44,-146.6,18.3,-15.2,31,210,0.00,2.53,0.00,0.000,6,0.000,0.053,2329,2188,3838
$GC,276,-1.44,-146.6,28.4,-14.3,39,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2190,3838
$GC,466,-1.44,-146.6,56.3,-14.8,55,470,0.00,2.58,0.00,0.000,4,0.000,0.067,2329,3606,3838
$GC,494,-1.44,-146.6,60.7,-15.1,56,498,0.00,2.53,0.00,0.000,6,0.000,0.050,2329,2198,3838
$GC,812,-1.44,-146.6,106.7,-14.7,73,816,0.00,2.22,0.00,0.000,3,0.000,0.064,2329,3404,3838
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,825,-0.33,0.0,107.6,14.3,73,944,1.15,0.00,114.25,0.815,6,0.095,0.000,2569,2171,3240
$STATE,944,end apogee,CONTROL_FINISHED_OK
$STATE,944,begin climb
$GC,947,1.44,146.6,112.9,0.0,85,1073,1.80,2.58,113.10,0.792,4,0.060,0.059,2965,781,2641
$GC,1079,1.44,146.6,99.8,14.4,97,1086,0.00,2.58,0.00,0.000,6,0.000,0.051,2965,2198,2641
$GC,1395,1.44,146.6,49.7,15.7,113,1399,0.00,2.55,0.00,0.000,4,0.000,0.064,2964,3603,2641
$GC,1428,1.44,146.6,44.2,16.2,115,1434,0.00,2.53,0.00,0.000,6,0.000,0.049,2965,2191,2641
$GC,1627,1.44,146.6,14.8,15.2,137,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2173,2641
$GC,1702,1.44,146.6,5.4,11.3,150,1708,0.00,2.50,0.00,0.000,4,0.000,0.060,2965,783,2641
$STATE,1718,end climb,SURFACE_DEPTH_REACHED
$STATE,1718,begin surface coast
$FINISH,2.4,1.020622
$STATE,1736,end surface coast,CONTROL_FINISHED_OK
$STATE,1736,begin surface
$SM_CCo,1761,190.05,0.734,0,0,1201,500.17
$SM_GC,0.39,0.00,0.00,190.05,0.000,0.000,0.734,425,2192,1201,-10.24,0.06,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1755
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,91.6,31.0
$24V_AH,24.0,1.068
$10V_AH,10.1,0.380
$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,24.300,29.950,227.350,190.050,0.000,37.760,23.854,78.912,2.250,0.000,0.000,44.766,277.824,860.682,496.145,380.691,236.193,33.325,723.961,0.000,344.449,0.000,11.694,0.000
$DEVICE_MAMPS,145.730,69.030,814.554,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,103.988,109.134,268.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6560,156
$CAP_FILE_SIZE,27112,0
$CFSIZE,254472192,253046784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,161008,001750,4807.128,-12222.995,8,1.4,13,18.3