version: 66.04
glider: 177
mission: 1
dive: 2
start: 8 25 109 19 18 41
data:
$ID,177
$MISSION,1
$DIVE,2
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,65
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-2864.6714
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2390
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3688
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-43.008797
$PRESSURE_SLOPE,0.0001167561
$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,0
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$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,0.0043573868
$SEABIRD_T_H,0.00062801503
$SEABIRD_T_I,2.4905019e-05
$SEABIRD_T_J,2.7586682e-06
$SEABIRD_C_G,-10.06375
$SEABIRD_C_H,1.1391832
$SEABIRD_C_I,-0.00095358328
$SEABIRD_C_J,0.00016952561
$GPS1,190825,4808.423,-12223.390,11,1.2,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-63.6
$GPS2,191806,4808.569,-12223.492,12,1.7,28,18.3
$SPEED_LIMITS,0.173,0.174
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.152
$KALMAN_X,-134.8,-134.8,-134.8,-313.4,-240.9
$KALMAN_Y,379.4,379.4,379.4,455.3,678.3
$MHEAD_RNG_PITCHd_Wd,132.5,2970,-27.1,-10.000
$D_GRID,94
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.76,-63.5,0.0,0.0,0,149,0.00,0.00,-134.27,0.000,2,0.000,0.000,156,2256,3754
$GC,150,-0.76,-63.5,3.1,-6.4,24,168,8.43,2.30,-5.03,0.000,4,0.271,0.084,2132,3679,3949
$GC,207,-0.76,-63.5,11.0,-8.2,36,213,0.00,2.28,0.00,0.000,6,0.000,0.068,2136,2253,3951
$GC,277,-0.76,-63.5,14.6,-4.4,52,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2252,3950
$GC,347,-0.76,-63.5,18.1,-5.4,68,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2252,3950
$GC,417,-0.76,-63.5,22.3,-6.8,84,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2252,3951
$GC,486,-0.76,-63.5,27.7,-8.0,100,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2252,3951
$GC,556,-0.76,-63.5,33.5,-7.9,116,562,0.00,2.28,0.00,0.000,4,0.000,0.079,2127,3685,3950
$GC,583,-0.76,-63.5,36.1,-9.8,122,589,0.08,2.30,0.00,0.000,6,0.212,0.071,2144,2219,3951
$GC,653,-0.76,-63.5,42.4,-8.9,138,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2219,3950
$GC,789,-0.76,-63.5,55.3,-9.4,169,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2219,3950
$GC,923,-0.76,-63.5,68.4,-9.9,200,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2219,3951
$GC,1058,-0.76,-63.5,82.2,-10.1,231,1064,0.00,2.30,0.00,0.000,4,0.000,0.077,2134,3670,3950
$GC,1098,-0.76,-63.5,86.7,-11.7,240,1104,0.00,2.25,0.00,0.000,6,0.000,0.071,2136,2256,3950
$STATE,1167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1167,begin apogee
$GC,1170,-0.12,0.0,94.4,10.3,256,1293,0.70,0.00,82.57,0.566,6,0.186,0.000,2341,2255,3688
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1295,0.76,63.5,95.9,0.0,279,1423,0.82,2.45,83.85,0.547,4,0.081,0.090,2630,3662,3427
$GC,1448,0.76,63.5,75.8,20.4,309,1454,0.00,2.35,0.00,0.000,6,0.000,0.080,2639,2250,3427
$GC,1584,0.76,63.5,49.8,18.8,340,1590,0.00,2.35,0.00,0.000,4,0.000,0.089,2629,3673,3427
$GC,1598,0.76,63.5,46.9,19.2,343,1604,0.00,2.35,0.00,0.000,6,0.000,0.079,2639,2257,3428
$GC,1734,0.76,63.5,23.6,15.4,374,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2256,3427
$GC,1803,0.76,63.5,12.6,15.1,390,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2256,3427
$GC,1873,0.82,113.8,5.1,4.7,406,1919,0.00,2.35,40.20,0.588,4,0.000,0.087,2650,832,3224
$GC,1936,0.96,226.1,6.7,-1.8,418,2026,0.17,2.38,81.65,0.599,6,0.085,0.089,2708,2257,2765
$STATE,2029,end climb,SURFACE_DEPTH_REACHED
$STATE,2029,begin surface coast
$FINISH,0.2,1.012547
$STATE,2055,end surface coast,CONTROL_FINISHED_OK
$STATE,2055,begin surface
$SM_CCo,2067,51.97,0.580,0,0,2261,350.04
$SM_GC,2.01,0.00,0.00,51.97,0.000,0.000,0.580,150,2258,2261,-7.00,0.20,350.04
$IRIDIUM_FIX,4751.72,-12221.84,191198,191940
$TT8_MAMPS,0.051389
$HUMID,2251
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,21.4
$24V_AH,24.6,0.397
$10V_AH,10.7,0.229
$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,17.225,27.925,288.275,51.975,0.000,0.000,0.000,0.000,1.000,0.000,0.000,30.763,0.000,764.487,490.871,882.557,40.070,30.169,916.748,0.000,699.023,0.000,9.826,0.000
$DEVICE_MAMPS,270.751,89.739,599.027,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,290.498,538.594,471.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28692,441
$CAP_FILE_SIZE,65182,0
$CFSIZE,260165632,258818048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0
$GPS,250809,195431,4808.554,-12223.415,7,1.0,13,18.3