version: 66.04
glider: 173
mission: 2
dive: 7
start: 9 18 109 1 28 57
data:
$ID,173
$MISSION,2
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,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,-8
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-4801.1445
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2829
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3416
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-71.154404
$PRESSURE_SLOPE,0.0001159958
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,012432,4805.176,-12221.345,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.8
$GPS2,012802,4805.165,-12221.346,15,1.6,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.221,-0.137
$KALMAN_X,-328.2,-66.9,-13.3,1152.3,-137.6
$KALMAN_Y,117.5,24.1,10.5,-2020.1,51.3
$MHEAD_RNG_PITCHd_Wd,103.6,526,-17.5,-10.000
$D_GRID,108
$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,13,begin dive
$GC,14,-0.69,-146.6,0.0,0.0,0,90,0.00,0.00,-73.18,0.000,2,0.000,0.000,141,2036,3486
$GC,92,-0.69,-146.6,3.1,-3.0,14,121,10.05,2.38,-10.48,0.000,4,0.267,0.078,2603,3461,3963
$GC,379,-0.69,-146.6,39.9,-11.8,75,385,0.00,2.20,0.00,0.000,6,0.000,0.046,2603,2055,3966
$GC,455,-0.69,-146.6,49.0,-11.9,91,461,0.00,2.30,0.00,0.000,4,0.000,0.068,2603,3465,3967
$GC,475,-0.69,-146.6,51.5,-12.4,95,481,0.00,2.22,0.00,0.000,6,0.000,0.047,2603,2043,3967
$GC,620,-0.69,-146.6,69.4,-12.3,126,626,0.00,2.33,0.00,0.000,4,0.000,0.068,2602,3472,3967
$GC,677,-0.69,-146.6,76.6,-12.1,138,683,0.00,2.22,0.00,0.000,6,0.000,0.046,2603,2043,3967
$GC,821,-0.69,-146.6,93.4,-11.3,169,827,0.00,2.30,0.00,0.000,4,0.000,0.068,2603,3461,3967
$GC,860,-0.69,-146.6,98.0,-11.8,177,866,0.00,2.20,0.00,0.000,6,0.000,0.046,2603,2046,3967
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,956,-0.24,0.0,108.5,10.7,197,1058,0.45,0.00,96.20,0.640,6,0.152,0.000,2751,2257,3416
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1060,0.69,146.6,111.5,0.0,216,1173,0.85,2.42,106.03,0.621,4,0.102,0.054,3062,834,2818
$GC,1188,0.69,146.6,95.3,19.2,240,1194,0.00,2.35,0.00,0.000,6,0.000,0.053,3062,2255,2817
$GC,1334,0.69,146.6,64.8,20.6,271,1340,0.00,2.30,0.00,0.000,4,0.000,0.060,3062,3671,2817
$GC,1382,0.69,146.6,53.6,22.4,281,1389,0.08,2.28,0.00,0.000,6,0.231,0.047,3056,2240,2816
$GC,1528,0.69,146.6,24.4,19.4,312,1534,0.00,2.30,0.00,0.000,4,0.000,0.060,3056,3664,2817
$GC,1576,0.69,146.6,13.8,21.5,322,1582,0.00,2.22,0.00,0.000,6,0.000,0.046,3066,2249,2816
$GC,1652,0.73,172.7,2.1,8.8,338,1659,0.00,0.00,5.12,0.458,2,0.000,0.000,3066,2248,2778
$STATE,1660,end climb,SURFACE_DEPTH_REACHED
$STATE,1660,begin surface coast
$FINISH,2.2,1.019159
$STATE,1692,end surface coast,CONTROL_FINISHED_OK
$STATE,1693,begin surface
$SM_CCo,1695,266.08,0.551,0,0,439,730.01
$SM_GC,1.00,7.78,0.00,0.00,0.059,0.000,0.000,136,2033,434,-8.36,-0.48,731.48
$IRIDIUM_FIX,4748.51,-12220.12,131298,000047
$TT8_MAMPS,0.026078
$HUMID,2180
$INTERNAL_PRESSURE,9.2426
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,24.7,0.764
$10V_AH,10.8,0.653
$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,19.200,32.700,207.350,266.075,0.000,29.404,23.897,89.913,1.750,0.000,0.000,15.213,519.020,524.289,540.280,528.281,185.092,33.326,862.493,0.000,517.642,0.000,10.278,0.000
$DEVICE_MAMPS,266.916,78.234,640.445,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.135,176.116,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12764,346
$CAP_FILE_SIZE,38084,0
$CFSIZE,260165632,258134016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,020408,4804.957,-12221.146,13,1.6,13,18.3