version: 66.04
glider: 173
mission: 2
dive: 10
start: 9 18 109 3 23 16
data:
$ID,173
$MISSION,2
$DIVE,10
$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,-4847.2627
$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,23
$R_STBD_OVSHOOT,25
$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,3
$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
$GPS1,031858,4805.092,-12221.021,13,2.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.5
$GPS2,032220,4805.091,-12221.014,15,1.1,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIXN
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.242
$KALMAN_X,-528.0,-106.5,-68.2,1851.2,-56.9
$KALMAN_Y,-352.0,4.9,10.1,-1666.4,-161.4
$MHEAD_RNG_PITCHd_Wd,320.3,2079,-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,12,begin dive
$GC,13,-0.69,-146.6,0.0,0.0,0,141,0.00,0.00,-124.85,0.000,2,0.000,0.000,133,2040,3715
$GC,143,-0.69,-146.6,3.7,-4.3,24,167,10.07,2.35,-5.40,0.000,4,0.266,0.078,2589,3452,3963
$GC,316,-0.69,-146.6,27.9,-13.2,60,323,0.05,2.22,0.00,0.000,6,0.212,0.048,2601,2040,3965
$GC,393,-0.69,-146.6,37.4,-12.1,76,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2039,3967
$GC,467,-0.69,-146.6,46.2,-11.8,92,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2039,3967
$GC,611,-0.69,-146.6,63.5,-11.8,123,617,0.00,2.30,0.00,0.000,4,0.000,0.067,2601,3454,3968
$GC,714,-0.69,-146.6,75.7,-11.4,145,720,0.00,2.20,0.00,0.000,6,0.000,0.047,2601,2045,3967
$GC,859,-0.69,-146.6,92.0,-11.3,176,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2043,3967
$STATE,1002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1002,begin apogee
$GC,1006,-0.24,0.0,108.2,11.5,207,1108,0.45,0.00,96.85,0.663,6,0.149,0.000,2750,2255,3415
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1111,0.69,146.6,111.5,0.0,226,1224,0.85,2.45,106.45,0.628,4,0.103,0.055,3060,824,2817
$GC,1263,0.69,146.6,90.5,20.6,255,1269,0.00,2.35,0.00,0.000,6,0.000,0.053,3060,2251,2816
$GC,1408,0.69,146.6,59.0,21.1,286,1414,0.00,2.30,0.00,0.000,4,0.000,0.061,3060,3663,2816
$GC,1461,0.69,146.6,46.6,23.5,297,1467,0.08,2.28,0.00,0.000,6,0.229,0.048,3054,2237,2815
$GC,1607,0.69,146.6,18.1,18.1,328,1613,0.00,2.33,0.00,0.000,4,0.000,0.061,3054,3672,2815
$GC,1627,0.69,146.6,14.2,18.6,332,1633,0.00,2.25,0.00,0.000,6,0.000,0.047,3065,2246,2815
$GC,1703,0.69,146.6,2.0,11.5,348,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2245,2815
$STATE,1712,end climb,SURFACE_DEPTH_REACHED
$STATE,1712,begin surface coast
$FINISH,1.3,1.019135
$STATE,1741,end surface coast,CONTROL_FINISHED_OK
$STATE,1741,begin surface
$SM_CCo,1756,134.50,0.541,0,0,1580,450.13
$SM_GC,1.24,0.00,0.00,134.50,0.000,0.000,0.541,135,2035,1580,-8.42,-0.42,450.13
$IRIDIUM_FIX,4745.30,-12220.12,131298,020245
$TT8_MAMPS,0.026845
$HUMID,2159
$INTERNAL_PRESSURE,9.29143
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.7,0.979
$10V_AH,10.8,0.720
$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,19.625,23.675,203.300,134.500,0.000,23.969,25.853,85.741,1.500,0.000,0.000,15.929,519.066,438.384,437.233,543.635,177.420,33.335,770.929,0.000,531.703,0.000,10.272,0.000
$DEVICE_MAMPS,266.149,78.234,662.688,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.958,180.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12755,356
$CAP_FILE_SIZE,36735,0
$CFSIZE,260165632,258056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,035532,4805.244,-12221.081,12,1.1,12,18.3