version: 66.04
glider: 158
mission: 1
dive: 15
start: 8 16 108 8 55 48
data:
$ID,158
$MISSION,1
$DIVE,15
$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,51600
$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,500
$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,-9727.3682
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,225
$ROLL_MAX,3911
$ROLL_DEG,40
$C_ROLL_DIVE,2142
$C_ROLL_CLIMB,2142
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,3499
$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,-19.617783
$PRESSURE_SLOPE,0.0001162534
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$DEVICE4,103
$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,0.0043197535
$SEABIRD_T_H,0.0006381399
$SEABIRD_T_I,2.5446814e-05
$SEABIRD_T_J,2.8593313e-06
$SEABIRD_C_G,-10.195082
$SEABIRD_C_H,1.1596043
$SEABIRD_C_I,-0.0010232648
$SEABIRD_C_J,0.00017862333
$GPS1,084023,4806.597,-12222.635,10,2.5,29,18.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-77.9
$GPS2,085509,4806.521,-12222.554,12,2.0,12,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.196
$KALMAN_X,-604.3,10.8,66.3,1099.4,26.8
$KALMAN_Y,667.3,-7.6,-101.2,-1596.2,-95.0
$MHEAD_RNG_PITCHd_Wd,312.1,3271,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-107.5,0.0,0.0,0,83,0.00,0.00,-70.03,0.000,2,0.000,0.000,48,2129,3083
$GC,85,-0.68,-107.5,3.1,-2.4,11,129,7.62,0.00,-32.20,0.000,6,0.267,0.000,1897,2129,3938
$GC,195,-0.40,-107.5,11.5,-12.5,33,201,0.32,0.00,0.00,0.000,6,0.182,0.000,1992,2130,3939
$GC,267,-0.40,-107.5,18.2,-8.2,49,273,0.00,2.30,0.00,0.000,4,0.000,0.051,1986,3556,3940
$GC,296,-0.43,-107.5,20.5,-7.8,55,302,0.00,2.22,0.00,0.000,6,0.000,0.038,1986,2135,3940
$GC,367,-0.43,-107.5,26.7,-9.3,71,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2135,3941
$GC,439,-0.43,-107.5,33.0,-8.7,87,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2135,3941
$GC,510,-0.43,-107.5,39.7,-9.4,103,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2134,3941
$GC,582,-0.43,-107.5,46.5,-9.2,119,587,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2134,3941
$GC,716,-0.43,-107.5,59.4,-10.2,150,723,0.00,2.28,0.00,0.000,4,0.000,0.050,1976,3560,3940
$GC,740,-0.43,-107.5,61.7,-9.9,155,746,0.00,2.17,0.00,0.000,6,0.000,0.038,1976,2137,3941
$GC,875,-0.43,-107.5,75.9,-10.7,186,881,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2137,3941
$GC,1013,-0.43,-107.5,89.9,-10.1,217,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2136,3941
$GC,1147,-0.43,-107.5,103.3,-10.0,248,1154,0.00,2.25,0.00,0.000,4,0.000,0.051,1965,3556,3941
$STATE,1165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1165,begin apogee
$GC,1170,-0.13,0.0,105.2,9.5,252,1253,0.35,0.00,79.15,0.721,6,0.134,0.000,2078,2131,3498
$STATE,1253,end apogee,CONTROL_FINISHED_OK
$STATE,1253,begin climb
$GC,1255,0.68,107.5,108.0,0.0,266,1344,0.75,2.33,80.80,0.696,4,0.087,0.048,2351,737,3060
$GC,1348,0.39,107.5,101.7,10.1,282,1354,0.32,2.33,0.00,0.000,6,0.188,0.041,2254,2139,3059
$GC,1485,0.42,129.7,89.3,8.6,313,1509,0.00,2.28,17.80,0.663,4,0.000,0.048,2255,3555,2969
$GC,1535,0.46,134.0,84.8,9.7,323,1547,0.00,2.25,5.15,0.513,6,0.000,0.039,2256,2139,2951
$GC,1678,0.47,143.9,71.4,9.4,355,1690,0.00,0.00,8.77,0.614,6,0.000,0.000,2255,2139,2911
$GC,1821,0.51,147.0,57.9,9.8,387,1827,0.10,0.00,3.97,0.459,6,0.086,0.000,2299,2139,2899
$GC,1958,0.43,147.0,41.1,12.5,418,1964,0.17,0.00,0.00,0.000,6,0.174,0.000,2256,2139,2898
$GC,2095,0.55,177.6,29.1,8.1,449,2128,0.17,2.30,23.30,0.670,4,0.070,0.049,2326,3547,2773
$GC,2132,0.46,177.6,24.4,12.4,455,2139,0.22,2.25,0.00,0.000,6,0.183,0.039,2279,2135,2773
$GC,2205,0.52,177.6,16.0,10.1,471,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2135,2773
$GC,2276,0.63,200.5,9.2,8.6,487,2297,0.17,0.00,17.90,0.650,6,0.067,0.000,2349,2134,2680
$STATE,2317,end climb,SURFACE_DEPTH_REACHED
$STATE,2317,begin surface coast
$FINISH,1.7,1.016951
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2360,217.30,0.645,0,0,1460,500.17
$SM_GC,1.93,0.00,0.00,217.30,0.000,0.000,0.645,52,2133,1460,-6.48,-0.25,500.17
$IRIDIUM_FIX,4751.72,-12226.29,101197,080846
$TT8_MAMPS,0.051389
$HUMID,2008
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,43.0
$24V_AH,24.1,1.868
$10V_AH,10.6,1.068
$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,16.450,27.150,236.850,217.300,0.000,104.686,225.069,291.694,0.750,0.000,0.000,12.898,0.000,957.728,517.502,1271.867,713.148,33.321,995.286,0.000,1099.844,0.000,5.522,0.000
$DEVICE_MAMPS,266.916,51.389,720.980,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,344.972,244.194,792.398,197.546,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25418,502
$CAP_FILE_SIZE,59856,0
$CFSIZE,260165632,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,093935,4806.734,-12222.718,12,99.0,31,18.3