version: 66.04
glider: 156
mission: 1
dive: 8
start: 8 16 108 0 36 58
data:
$ID,156
$MISSION,1
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$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,550
$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,-7220.6333
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,002944,4806.580,-12222.596,8,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-65.4
$GPS2,003603,4806.603,-12222.654,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.182
$KALMAN_X,-728.9,-185.6,-45.5,1168.9,-104.8
$KALMAN_Y,473.6,-20.7,-14.2,-1557.1,141.3
$MHEAD_RNG_PITCHd_Wd,125.6,1379,-20.6,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-107.5,0.0,0.0,0,121,0.00,0.00,-102.62,0.000,6,0.000,0.000,37,2128,3956
$GC,123,-0.78,-107.5,3.3,-5.1,18,136,7.03,2.22,0.00,0.000,4,0.258,0.043,1771,3540,3956
$GC,143,0.70,-107.5,6.8,-13.0,21,150,1.60,2.17,0.00,0.000,6,0.164,0.033,2260,2121,3957
$GC,215,-0.75,-107.5,6.0,0.1,37,222,1.48,2.25,0.00,0.000,4,0.161,0.047,1804,3538,3958
$GC,228,-1.98,-107.5,6.6,-2.1,39,236,1.08,2.15,0.00,0.000,6,0.049,0.033,1387,2131,3958
$GC,299,-1.00,-107.5,14.1,-13.5,55,306,1.20,2.15,0.00,0.000,4,0.223,0.044,1722,726,3958
$GC,313,-0.09,-107.5,15.7,-12.4,57,320,1.02,2.20,0.00,0.000,6,0.184,0.036,2006,2133,3959
$GC,385,-0.58,-107.5,17.6,-1.6,73,392,0.40,2.22,0.00,0.000,4,0.054,0.041,1839,718,3958
$GC,630,-0.49,-107.5,34.1,-7.6,131,637,0.20,2.20,0.00,0.000,6,0.156,0.037,1886,2132,3959
$GC,702,-0.56,-107.5,38.2,-5.1,147,709,0.00,2.20,0.00,0.000,4,0.000,0.042,1886,726,3959
$GC,918,-0.63,-107.5,51.4,-6.3,195,924,0.12,2.20,0.00,0.000,6,0.068,0.038,1817,2138,3960
$GC,1062,-0.52,-107.5,63.1,-8.7,226,1069,0.17,2.20,0.00,0.000,4,0.153,0.049,1863,3542,3959
$GC,1080,-0.44,-107.5,64.6,-7.8,229,1087,0.12,2.15,0.00,0.000,6,0.153,0.032,1898,2120,3959
$GC,1224,-0.58,-107.5,72.4,-5.2,260,1231,0.15,2.22,0.00,0.000,4,0.065,0.048,1817,3539,3960
$GC,1242,-0.64,-107.5,73.6,-5.7,263,1248,0.00,2.12,0.00,0.000,6,0.000,0.032,1817,2134,3959
$GC,1387,-0.55,-107.5,86.1,-8.8,294,1394,0.15,2.20,0.00,0.000,4,0.157,0.049,1850,3538,3960
$GC,1422,-0.55,-107.5,88.8,-7.8,301,1428,0.00,2.12,0.00,0.000,6,0.000,0.033,1850,2132,3960
$GC,1565,-0.55,-107.5,98.5,-6.1,332,1572,0.00,2.20,0.00,0.000,4,0.000,0.050,1839,3539,3960
$GC,1582,-0.55,-107.5,99.6,-5.9,335,1588,0.00,2.12,0.00,0.000,6,0.000,0.032,1840,2131,3960
$STATE,1655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1655,begin apogee
$GC,1660,-0.16,0.0,105.1,7.1,351,1745,0.45,0.00,80.20,0.641,6,0.142,0.000,1985,2128,3516
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1748,0.78,107.5,106.6,0.0,366,1833,0.88,0.00,79.65,0.615,6,0.095,0.000,2289,2128,3077
$GC,1969,0.64,107.5,77.3,15.3,411,1975,0.17,2.30,0.00,0.000,4,0.171,0.048,2238,3548,3075
$GC,2009,0.58,107.5,71.5,14.0,419,2016,0.00,2.22,0.00,0.000,6,0.000,0.034,2248,2128,3075
$GC,2152,0.58,107.5,53.6,12.0,450,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2128,3074
$GC,2293,0.58,107.5,36.7,12.0,481,2299,0.00,2.25,0.00,0.000,4,0.000,0.049,2248,3544,3074
$GC,2318,0.56,107.5,33.5,12.7,486,2325,0.15,2.17,0.00,0.000,6,0.169,0.035,2218,2130,3074
$GC,2389,0.66,111.5,26.2,9.8,502,2403,0.12,2.28,4.25,0.440,4,0.074,0.044,2287,720,3061
$GC,2430,0.61,111.5,21.5,12.7,510,2437,0.20,2.22,0.00,0.000,6,0.166,0.041,2231,2133,3060
$GC,2504,0.68,116.6,13.9,9.7,526,2516,0.00,2.28,5.38,0.487,4,0.000,0.051,2231,3539,3040
$GC,2562,0.72,116.6,7.8,10.8,538,2569,0.00,2.15,0.00,0.000,6,0.000,0.035,2242,2129,3039
$STATE,2605,end climb,SURFACE_DEPTH_REACHED
$STATE,2605,begin surface coast
$FINISH,2.0,1.018875
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2665,begin surface
$SM_CCo,2678,320.08,0.559,0,0,1273,550.21
$SM_GC,0.18,0.00,0.00,320.08,0.000,0.000,0.559,34,2126,1273,-6.27,-0.14,550.21
$IRIDIUM_FIX,4748.51,-12221.84,091197,232338
$TT8_MAMPS,0.028379
$HUMID,2081
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,18.10
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,80.0,42.6
$24V_AH,24.7,1.304
$10V_AH,10.8,0.949
$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,22.650,57.200,169.475,320.075,0.000,30.661,27.858,224.525,3.000,0.000,0.000,13.470,883.710,488.921,608.022,1018.358,393.849,33.329,1112.114,0.000,1017.011,0.000,10.196,0.000
$DEVICE_MAMPS,257.712,51.389,641.212,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.869,291.247,692.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28575,562
$CAP_FILE_SIZE,66929,0
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,012808,4806.412,-12222.498,36,1.1,36,18.3