version: 66.04
glider: 172
mission: 1
dive: 3
start: 7 15 109 22 56 57
data:
$ID,172
$MISSION,1
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$USE_BATHY,-4
$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,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,480
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2376.4749
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3066
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3514
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.536236
$PRESSURE_SLOPE,0.0001168426
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,225044,4807.200,-12222.796,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.9
$GPS2,225620,4807.204,-12222.792,16,1.4,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.239
$KALMAN_X,-38.1,-37.0,-36.3,348.3,-39.4
$KALMAN_Y,107.8,94.0,87.2,-636.5,108.9
$MHEAD_RNG_PITCHd_Wd,138.7,2435,-17.5,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,121,0.00,0.00,-107.93,0.000,2,0.000,0.000,143,2142,3333
$GC,123,-0.68,-146.6,3.3,-4.9,19,153,10.30,2.33,-14.95,0.000,4,0.237,0.084,2840,725,3962
$GC,399,-0.68,-146.6,46.5,-16.5,81,406,0.00,2.30,0.00,0.000,6,0.000,0.073,2836,2141,3964
$GC,535,-0.68,-146.6,70.2,-18.2,112,541,0.00,2.25,0.00,0.000,4,0.000,0.071,2836,742,3964
$GC,627,-0.68,-146.6,85.3,-14.9,133,634,0.00,2.25,0.00,0.000,6,0.000,0.071,2833,2138,3964
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,764,-0.14,0.0,107.1,17.1,164,849,0.55,0.00,81.60,0.595,6,0.140,0.000,3014,2137,3514
$STATE,850,end apogee,CONTROL_FINISHED_OK
$STATE,850,begin climb
$GC,850,0.68,146.6,110.6,0.0,179,968,0.73,0.00,110.40,0.580,6,0.090,0.000,3278,2137,2914
$GC,1097,0.68,146.6,88.4,12.4,230,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2137,2913
$GC,1227,0.68,146.6,72.8,11.9,260,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2137,2913
$GC,1357,0.74,199.4,62.6,7.6,290,1403,0.00,2.33,39.47,0.567,4,0.000,0.072,3278,3562,2701
$GC,1480,0.74,199.4,46.9,14.4,316,1486,0.00,2.28,0.00,0.000,6,0.000,0.059,3286,2147,2700
$GC,1615,0.74,199.4,28.6,12.9,347,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2146,2700
$GC,1685,0.74,199.4,19.8,13.1,363,1691,0.00,2.28,0.00,0.000,4,0.000,0.068,3297,726,2699
$GC,1720,0.74,199.4,15.6,12.1,371,1727,0.00,2.30,0.00,0.000,6,0.000,0.068,3297,2145,2699
$GC,1790,0.74,199.4,7.0,12.0,387,1797,0.00,2.28,0.00,0.000,4,0.000,0.074,3297,3552,2699
$STATE,1816,end climb,SURFACE_DEPTH_REACHED
$STATE,1816,begin surface coast
$FINISH,2.3,1.017987
$STATE,1847,end surface coast,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$SM_CCo,1861,148.85,0.502,8,0,1556,480.05
$SM_GC,1.64,0.00,0.00,148.85,0.000,0.000,0.502,140,2133,1556,-9.14,-0.34,480.05
$RAFOS_CLK,0
$RAFOS,1,1247699943,23.333334,23.317499,47,45,45,0,0,0,1152,1011,1304,0,0,0
$RAFOS,0,1247699345,23.166666,23.151388,43,43,41,0,0,0,40,2172,145,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4801.38,-12240.42,091098,222233
$TT8_MAMPS,0.050622
$HUMID,1904
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,3.8
$24V_AH,24.6,0.638
$10V_AH,10.7,0.226
$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,20.000,22.825,231.475,148.850,0.000,23.389,28.652,212.314,0.500,0.000,0.000,18.135,0.000,826.252,515.725,746.853,298.294,31.399,856.021,0.000,587.678,960.000,5.408,0.000
$DEVICE_MAMPS,237.003,83.603,595.192,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.827,196.249,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12756,400
$CAP_FILE_SIZE,41291,0
$CFSIZE,260165632,258789376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1483.1
$GPS,150709,233144,4807.096,-12222.607,12,2.0,12,18.3