version: 66.04
glider: 160
mission: 1
dive: 21
start: 12 4 108 9 48 41
data:
$ID,160
$MISSION,1
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$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,5
$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,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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,620
$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,-5332.1914
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2562
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3589
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.342426
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$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
$DEVICE3,53
$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,0.004341932
$SEABIRD_T_H,0.00063318753
$SEABIRD_T_I,2.3343002e-05
$SEABIRD_T_J,2.4016158e-06
$SEABIRD_C_G,-9.9320574
$SEABIRD_C_H,1.1090317
$SEABIRD_C_I,-0.00091700396
$SEABIRD_C_J,0.00016420601
$GPS1,094307,4806.054,-12222.105,13,1.9,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-66.8
$GPS2,094802,4806.026,-12222.070,11,1.9,28,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.190
$KALMAN_X,-674.9,100.1,80.8,2335.2,96.1
$KALMAN_Y,1798.1,-101.5,108.5,-6009.9,-219.2
$MHEAD_RNG_PITCHd_Wd,313.5,4366,-21.7,-10.000
$D_GRID,107
$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,-0.84,-97.8,0.0,0.0,0,103,0.00,0.00,-90.55,0.000,2,0.000,0.000,145,2353,2886
$GC,105,-0.84,-97.8,3.3,-3.2,17,154,8.55,2.28,-34.97,0.000,4,0.248,0.066,2286,943,3962
$GC,392,-0.84,-97.8,32.4,-13.8,71,399,0.00,2.28,0.00,0.000,6,0.000,0.059,2284,2340,3963
$GC,461,-0.84,-97.8,41.7,-13.9,84,468,0.00,2.25,0.00,0.000,4,0.000,0.054,2284,956,3963
$GC,525,-0.84,-97.8,51.2,-14.8,96,532,0.00,2.25,0.00,0.000,6,0.000,0.060,2284,2340,3963
$GC,658,-0.84,-97.8,70.5,-14.8,121,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2340,3963
$GC,787,-0.84,-97.8,88.2,-13.4,145,794,0.00,2.25,0.00,0.000,4,0.000,0.056,2284,946,3963
$GC,861,-0.84,-97.8,98.6,-14.1,159,868,0.00,2.28,0.00,0.000,6,0.000,0.060,2284,2352,3963
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,932,-0.17,0.0,107.6,12.6,172,1006,0.68,0.00,68.10,0.720,6,0.153,0.000,2498,2412,3589
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1008,0.84,97.8,110.0,0.0,186,1087,0.98,0.00,74.12,0.692,6,0.087,0.000,2832,2412,3190
$GC,1214,0.84,97.8,84.0,15.0,225,1220,0.00,2.30,0.00,0.000,4,0.000,0.065,2832,3782,3189
$GC,1245,0.84,97.8,78.6,16.8,231,1252,0.00,2.20,0.00,0.000,6,0.000,0.044,2841,2412,3190
$GC,1378,0.84,97.8,57.7,15.3,256,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2412,3189
$GC,1506,0.84,97.8,39.1,14.0,280,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2412,3189
$GC,1570,0.84,97.8,30.0,14.8,292,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2412,3188
$GC,1634,0.84,97.8,21.2,13.1,304,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2412,3189
$GC,1698,0.84,97.8,12.7,12.5,316,1705,0.00,2.25,0.00,0.000,4,0.000,0.047,2852,986,3189
$GC,1714,0.84,97.8,10.8,12.0,319,1721,0.00,2.22,0.00,0.000,6,0.000,0.048,2852,2396,3188
$GC,1783,1.01,233.5,6.2,0.7,332,1891,0.10,2.38,99.28,0.641,4,0.087,0.050,2898,987,2636
$STATE,2070,end climb,NO_VERTICAL_VELOCITY
$STATE,2070,begin surface
$SM_CCo,2072,409.55,0.607,2,0,489,760.18
$SM_GC,2.16,7.70,0.00,0.00,0.051,0.000,0.000,146,2355,485,-7.50,0.14,761.17
$IRIDIUM_FIX,4748.51,-12224.57,280298,090908
$TT8_MAMPS,0.049855
$HUMID,1541
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.60
$XPDR_PINGS,7
$24V_AH,24.3,2.728
$10V_AH,10.7,1.102
$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,18.000,27.325,241.500,409.550,0.000,30.502,31.623,153.179,1.750,0.000,0.000,31.287,0.000,1142.670,761.012,722.824,265.698,33.333,1103.388,0.000,567.079,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,102.011,720.213,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,257.096,209.348,294.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15883,386
$CAP_FILE_SIZE,42042,0
$CFSIZE,260165632,258060288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,041208,103237,4806.116,-12222.179,13,1.8,23,18.3