version: 66.04
glider: 173
mission: 2
dive: 28
start: 9 18 109 16 13 50
data:
$ID,173
$MISSION,2
$DIVE,28
$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,-5261.7876
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,160655,4807.940,-12223.905,39,1.7,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.3
$GPS2,161255,4807.958,-12223.934,14,1.8,31,18.3
$SPEED_LIMITS,0.099,0.178
$TGT_NAME,SEVENS
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,-0.128
$KALMAN_X,-143.5,137.3,25.2,-2478.5,47.3
$KALMAN_Y,-3456.6,-21.6,-19.8,6800.8,-301.5
$MHEAD_RNG_PITCHd_Wd,117.7,2117,-12.4,-5.714
$D_GRID,105
$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,-0.48,-97.8,0.0,0.0,0,85,0.00,0.00,-68.25,0.000,2,0.000,0.000,142,2048,3352
$GC,87,-0.48,-97.8,3.0,-3.5,13,111,10.30,0.00,-11.00,0.000,6,0.265,0.000,2646,2049,3816
$GC,181,-0.48,-97.8,12.4,-7.6,32,187,0.00,2.33,0.00,0.000,4,0.000,0.069,2644,3457,3819
$GC,280,-0.48,-97.8,20.4,-8.0,53,286,0.00,2.25,0.00,0.000,6,0.000,0.048,2644,2037,3819
$GC,355,-0.48,-97.8,25.9,-7.3,69,361,0.00,2.25,0.00,0.000,4,0.000,0.058,2644,629,3819
$GC,399,-0.48,-97.8,29.5,-8.0,78,405,0.00,2.28,0.00,0.000,6,0.000,0.058,2644,2045,3820
$GC,475,-0.48,-97.8,35.3,-7.6,94,481,0.00,2.33,0.00,0.000,4,0.000,0.068,2644,3468,3820
$GC,527,-0.48,-97.8,39.6,-8.2,105,534,0.00,2.25,0.00,0.000,6,0.000,0.048,2644,2039,3820
$GC,603,-0.48,-97.8,45.5,-8.0,121,609,0.00,2.33,0.00,0.000,4,0.000,0.068,2644,3461,3820
$GC,633,-0.48,-97.8,48.0,-8.0,127,639,0.00,2.22,0.00,0.000,6,0.000,0.047,2644,2042,3821
$GC,778,-0.48,-97.8,59.5,-8.0,158,784,0.00,2.33,0.00,0.000,4,0.000,0.068,2644,3469,3821
$GC,854,-0.48,-97.8,65.6,-7.9,174,860,0.00,2.22,0.00,0.000,6,0.000,0.047,2644,2046,3821
$GC,999,-0.48,-97.8,77.0,-7.9,205,1005,0.00,2.30,0.00,0.000,4,0.000,0.067,2644,3462,3821
$GC,1057,-0.48,-97.8,81.7,-7.9,217,1063,0.00,2.22,0.00,0.000,6,0.000,0.048,2644,2038,3821
$GC,1203,-0.48,-97.8,93.1,-8.0,248,1209,0.00,2.33,0.00,0.000,4,0.000,0.067,2644,3470,3820
$GC,1295,-0.48,-97.8,100.0,-7.8,267,1301,0.00,2.22,0.00,0.000,6,0.000,0.048,2644,2043,3820
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1361,begin apogee
$GC,1365,-0.21,0.0,105.1,7.3,281,1441,0.28,0.00,71.70,0.674,6,0.146,0.000,2737,2257,3416
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1444,0.48,97.8,107.8,0.0,295,1520,0.65,0.00,72.18,0.659,6,0.113,0.000,2962,2258,3016
$GC,1658,0.48,97.8,87.0,11.7,339,1664,0.00,2.33,0.00,0.000,4,0.000,0.062,2962,3664,3014
$GC,1705,0.48,97.8,80.6,13.4,349,1711,0.00,2.28,0.00,0.000,6,0.000,0.047,2972,2248,3014
$GC,1851,0.48,97.8,62.0,12.7,380,1857,0.00,2.33,0.00,0.000,4,0.000,0.062,2972,3669,3014
$GC,1890,0.48,97.8,56.5,13.7,388,1897,0.08,2.28,0.00,0.000,6,0.211,0.048,2966,2241,3014
$GC,2036,0.48,97.8,39.4,11.3,419,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2240,3013
$GC,2110,0.48,97.8,31.4,10.6,435,2116,0.00,2.30,0.00,0.000,4,0.000,0.062,2966,3658,3014
$GC,2149,0.48,97.8,26.8,11.5,443,2155,0.00,2.25,0.00,0.000,6,0.000,0.048,2976,2235,3014
$GC,2225,0.48,97.8,18.4,10.8,459,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2234,3013
$GC,2300,0.48,97.8,10.7,10.4,475,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2234,3013
$GC,2374,0.48,97.8,5.0,6.7,491,2380,0.00,2.30,0.00,0.000,4,0.000,0.063,2976,3657,3013
$GC,2622,0.65,232.9,5.1,0.3,544,2721,0.10,2.22,92.57,0.609,6,0.104,0.047,3028,2233,2465
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,0.7,1.019004
$STATE,2805,end surface coast,CONTROL_FINISHED_OK
$STATE,2805,begin surface
$SM_CCo,2820,100.75,0.552,0,0,1581,450.13
$SM_GC,1.39,0.00,0.00,100.75,0.000,0.000,0.552,138,2046,1581,-8.35,-0.14,450.13
$IRIDIUM_FIX,4804.60,-12248.40,131298,151518
$TT8_MAMPS,0.026845
$HUMID,2117
$INTERNAL_PRESSURE,9.31096
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.1,999.0
$24V_AH,24.6,2.287
$10V_AH,10.8,1.188
$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,19.375,50.750,236.450,100.750,0.000,30.572,35.765,196.984,3.000,0.000,0.000,32.028,885.833,762.513,428.960,886.778,334.701,33.325,921.396,0.000,853.406,0.000,17.895,0.000
$DEVICE_MAMPS,265.382,69.030,674.193,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.306,318.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19028,580
$CAP_FILE_SIZE,59005,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,170314,4807.753,-12223.772,11,1.3,11,18.3