version: 66.04
glider: 173
mission: 2
dive: 27
start: 9 18 109 15 20 53
data:
$ID,173
$MISSION,2
$DIVE,27
$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,70
$T_MISSION,100
$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,-5229.1304
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2810
$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,19
$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,40
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,10
$ALTIM_SENSITIVITY,0
$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
$GPS1,151422,4807.770,-12223.778,11,2.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.0
$GPS2,151958,4807.763,-12223.811,11,2.5,30,18.3
$SPEED_LIMITS,0.099,0.178
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.060,0.168
$KALMAN_X,-225.9,161.0,21.7,-2263.1,45.9
$KALMAN_Y,-3257.8,-38.4,43.5,6194.8,-290.0
$MHEAD_RNG_PITCHd_Wd,322.2,497,-12.4,-5.714
$D_GRID,103
$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,14,-0.48,-97.8,0.0,0.0,0,74,0.00,0.00,-58.20,0.000,2,0.000,0.000,140,2046,3073
$GC,76,-0.48,-97.8,3.1,-3.7,11,112,10.43,2.35,-18.33,0.000,4,0.268,0.080,2644,3462,3815
$GC,375,-0.48,-97.8,26.0,-7.7,74,381,0.00,2.25,0.00,0.000,6,0.000,0.047,2644,2038,3817
$GC,451,-0.48,-97.8,31.9,-7.7,90,457,0.00,2.33,0.00,0.000,4,0.000,0.068,2645,3454,3818
$GC,637,-0.48,-97.8,47.8,-8.7,130,643,0.00,2.22,0.00,0.000,6,0.000,0.048,2645,2038,3819
$GC,782,-0.48,-97.8,59.7,-8.2,161,791,0.00,2.33,0.00,0.000,4,0.000,0.068,2644,3464,3819
$GC,880,-0.48,-97.8,68.0,-8.4,181,886,0.00,2.22,0.00,0.000,6,0.000,0.047,2645,2040,3819
$GC,1026,-0.48,-97.8,80.0,-8.1,212,1033,0.00,2.30,0.00,0.000,4,0.000,0.067,2644,3455,3819
$GC,1079,-0.48,-97.8,84.3,-7.9,223,1085,0.00,2.20,0.00,0.000,6,0.000,0.047,2644,2045,3819
$GC,1225,-0.48,-97.8,95.3,-7.6,254,1231,0.00,2.30,0.00,0.000,4,0.000,0.067,2644,3462,3819
$GC,1314,-0.48,-97.8,102.3,-7.9,273,1320,0.00,2.20,0.00,0.000,6,0.000,0.047,2644,2049,3819
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1328,-0.21,0.0,103.2,7.9,275,1404,0.28,0.00,71.38,0.676,6,0.149,0.000,2737,2260,3416
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1406,0.48,97.8,105.9,0.0,289,1482,0.65,0.00,72.10,0.656,6,0.113,0.000,2962,2261,3016
$GC,1621,0.48,97.8,85.6,11.6,333,1627,0.00,2.33,0.00,0.000,4,0.000,0.062,2962,3670,3014
$GC,1678,0.48,97.8,77.7,14.0,345,1684,0.00,2.30,0.00,0.000,6,0.000,0.048,2972,2239,3014
$GC,1824,0.48,97.8,59.3,12.2,376,1830,0.00,2.33,0.00,0.000,4,0.000,0.061,2972,3661,3013
$GC,1858,0.48,97.8,54.6,12.8,383,1865,0.08,2.25,0.00,0.000,6,0.212,0.048,2965,2248,3014
$GC,2005,0.48,97.8,37.7,11.1,414,2011,0.00,2.30,0.00,0.000,4,0.000,0.062,2965,3663,3014
$GC,2044,0.48,97.8,32.7,12.2,422,2050,0.00,2.25,0.00,0.000,6,0.000,0.048,2975,2243,3013
$GC,2120,0.48,97.8,23.8,11.5,438,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2242,3013
$GC,2195,0.48,97.8,15.6,10.9,454,2201,0.00,2.30,0.00,0.000,4,0.000,0.063,2975,3662,3013
$GC,2266,0.48,97.8,7.8,10.7,469,2273,0.08,2.25,0.00,0.000,6,0.204,0.050,2968,2241,3013
$GC,2343,0.64,223.2,5.8,0.7,485,2437,0.15,2.45,88.15,0.593,4,0.088,0.062,3028,3661,2506
$STATE,2492,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,1.3,1.018958
$STATE,2571,end surface coast,CONTROL_FINISHED_OK
$STATE,2571,begin surface
$SM_CCo,2589,100.80,0.553,0,0,1580,450.13
$SM_GC,1.35,0.00,0.00,100.80,0.000,0.000,0.553,142,2048,1580,-8.34,-0.06,450.13
$IRIDIUM_FIX,4748.51,-12221.84,131298,141406
$TT8_MAMPS,0.026845
$HUMID,2129
$INTERNAL_PRESSURE,9.3012
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,63.3,999.0
$24V_AH,24.6,2.212
$10V_AH,10.8,1.155
$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,19.700,46.425,231.625,100.800,0.000,24.937,24.958,189.935,2.750,0.000,0.000,31.670,800.767,710.419,413.341,813.083,306.174,33.352,862.801,0.000,782.729,0.000,16.381,0.000
$DEVICE_MAMPS,268.450,79.768,675.727,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.578,286.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18993,531
$CAP_FILE_SIZE,53303,0
$CFSIZE,260165632,257548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,160655,4807.940,-12223.905,39,1.7,39,18.3