version: 66.04
glider: 173
mission: 2
dive: 16
start: 9 18 109 7 6 38
data:
$ID,173
$MISSION,2
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,33
$T_MISSION,40
$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,-7
$MAX_BUOY,100
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4954.3027
$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,27
$R_STBD_OVSHOOT,20
$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,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,070158,4806.000,-12222.062,14,3.5,33,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.1
$GPS2,070544,4806.011,-12222.070,12,1.5,12,18.3
$SPEED_LIMITS,0.210,0.227
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.051,0.221
$KALMAN_X,-630.6,51.0,170.0,256.4,-68.9
$KALMAN_Y,-1348.2,-131.1,-150.7,1327.5,-137.9
$MHEAD_RNG_PITCHd_Wd,328.7,2162,-25.5,-12.121
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.87,-97.8,0.0,0.0,0,90,0.00,0.00,-72.97,0.000,2,0.000,0.000,138,2042,3495
$GC,92,-0.87,-97.8,3.0,-2.4,14,116,10.10,2.25,-7.57,0.000,4,0.274,0.070,2542,645,3815
$GC,378,-0.87,-97.8,41.8,-13.9,75,385,0.00,2.28,0.00,0.000,6,0.000,0.059,2539,2053,3817
$GC,524,-0.87,-97.8,62.8,-14.8,106,530,0.00,2.28,0.00,0.000,4,0.000,0.058,2539,634,3818
$GC,648,-0.87,-97.8,81.5,-15.2,132,654,0.00,2.28,0.00,0.000,6,0.000,0.061,2539,2051,3818
$GC,793,-0.87,-97.8,102.7,-14.5,163,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2052,3818
$STATE,824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,825,begin apogee
$GC,829,-0.21,0.0,107.6,14.7,170,904,0.70,0.00,71.40,0.665,6,0.180,0.000,2754,2264,3416
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,907,0.87,97.8,110.9,0.0,184,982,1.00,0.00,71.40,0.640,6,0.104,0.000,3105,2265,3016
$GC,1121,0.87,97.8,73.2,21.6,228,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2264,3015
$GC,1265,0.87,97.8,43.4,19.3,259,1271,0.00,2.28,0.00,0.000,4,0.000,0.060,3105,3666,3014
$GC,1327,0.87,97.8,30.0,21.1,272,1333,0.00,2.25,0.00,0.000,6,0.000,0.048,3116,2254,3014
$GC,1403,0.87,97.8,14.9,18.8,288,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2254,3014
$GC,1478,0.87,97.8,2.8,13.8,304,1484,0.00,2.28,0.00,0.000,4,0.000,0.061,3116,3660,3014
$GC,1747,1.05,245.0,3.5,-0.1,362,1808,0.12,2.22,54.92,0.567,2,0.110,0.048,3171,2241,2583
$STATE,1809,end climb,SURFACE_DEPTH_REACHED
$STATE,1809,begin surface coast
$FINISH,0.4,1.018878
$STATE,1851,end surface coast,CONTROL_FINISHED_OK
$STATE,1851,begin surface
$SM_CCo,1867,109.60,0.543,0,0,1580,450.13
$SM_GC,1.15,0.00,0.00,109.60,0.000,0.000,0.543,139,2037,1580,-8.41,-0.37,450.13
$IRIDIUM_FIX,4748.51,-12210.23,131298,060617
$TT8_MAMPS,0.026845
$HUMID,2171
$INTERNAL_PRESSURE,9.31096
$TCM_TEMP,19.40
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,80.5,42.8
$24V_AH,24.7,1.396
$10V_AH,10.8,0.853
$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,20.400,18.750,197.725,109.600,0.000,22.238,22.276,116.804,9.500,0.000,0.000,13.011,562.951,519.941,362.265,575.956,202.190,33.328,697.736,0.000,569.699,0.000,5.533,0.000
$DEVICE_MAMPS,273.819,69.797,664.989,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.532,213.527,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12746,382
$CAP_FILE_SIZE,36203,0
$CFSIZE,260165632,257896448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,074019,4806.131,-12222.261,7,1.9,12,18.3