version: 66.04
glider: 160
mission: 1
dive: 28
start: 12 4 108 15 48 24
data:
$ID,160
$MISSION,1
$DIVE,28
$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,62
$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,630
$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,-5466.5835
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,154315,4806.983,-12222.953,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.8
$GPS2,154745,4806.978,-12222.944,9,1.4,9,18.3
$SPEED_LIMITS,0.140,0.202
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.154
$KALMAN_X,18.2,241.2,9.3,492.0,39.9
$KALMAN_Y,999.0,-339.6,-210.2,-2892.0,33.0
$MHEAD_RNG_PITCHd_Wd,301.5,2300,-17.9,-8.065
$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,-0.72,-97.8,0.0,0.0,0,99,0.00,0.00,-85.88,0.000,2,0.000,0.000,150,2351,3207
$GC,100,-0.72,-97.8,3.1,-1.9,16,133,8.73,0.00,-22.30,0.000,6,0.248,0.000,2322,2346,3962
$GC,195,-0.72,-97.8,12.7,-10.8,34,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2346,3963
$GC,260,-0.72,-97.8,19.0,-9.5,46,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2346,3963
$GC,324,-0.72,-97.8,25.5,-10.5,58,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2346,3963
$GC,388,-0.72,-97.8,32.4,-10.7,70,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2346,3963
$GC,452,-0.72,-97.8,39.5,-11.3,82,459,0.00,2.28,0.00,0.000,4,0.000,0.057,2322,943,3963
$GC,484,-0.72,-97.8,43.5,-12.6,88,491,0.00,2.28,0.00,0.000,6,0.000,0.065,2322,2340,3963
$GC,617,-0.72,-97.8,59.4,-11.7,113,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2340,3963
$GC,745,-0.72,-97.8,74.8,-12.1,137,753,0.00,2.28,0.00,0.000,4,0.000,0.057,2322,942,3963
$GC,825,-0.72,-97.8,84.6,-12.1,152,832,0.00,2.28,0.00,0.000,6,0.000,0.059,2322,2350,3963
$GC,959,-0.72,-97.8,98.8,-10.2,177,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2350,3963
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1025,-0.17,0.0,105.2,9.9,189,1099,0.55,0.00,68.03,0.723,6,0.141,0.000,2500,2410,3588
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1101,0.72,97.8,107.3,0.0,203,1182,0.82,2.35,73.97,0.686,4,0.084,0.064,2787,3785,3190
$GC,1206,0.72,97.8,97.8,13.5,223,1213,0.00,2.28,0.00,0.000,6,0.000,0.043,2796,2399,3189
$GC,1340,0.72,97.8,78.6,13.6,248,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2399,3189
$GC,1468,0.72,97.8,61.8,13.4,272,1475,0.00,2.28,0.00,0.000,4,0.000,0.053,2806,993,3189
$GC,1484,0.72,97.8,59.9,13.1,275,1491,0.00,2.28,0.00,0.000,6,0.000,0.052,2806,2401,3189
$GC,1617,0.72,97.8,42.1,13.7,300,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2401,3189
$GC,1745,0.72,97.8,25.6,13.0,324,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2401,3188
$GC,1809,0.72,97.8,17.8,11.8,336,1816,0.00,2.22,0.00,0.000,4,0.000,0.059,2806,3781,3189
$GC,1868,0.72,97.8,10.3,12.5,347,1875,0.00,2.15,0.00,0.000,6,0.000,0.039,2814,2394,3189
$GC,1937,0.77,142.3,5.1,5.6,360,1976,0.00,2.25,33.22,0.658,4,0.000,0.052,2815,996,3008
$STATE,2096,end climb,NO_VERTICAL_VELOCITY
$STATE,2096,begin surface
$SM_CCo,2098,473.02,0.609,0,0,490,760.18
$SM_GC,1.66,7.43,0.00,0.00,0.045,0.000,0.000,145,2357,485,-7.50,0.20,761.41
$IRIDIUM_FIX,4748.51,-12224.57,280298,151525
$TT8_MAMPS,0.050622
$HUMID,1529
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,19.70
$XPDR_PINGS,4
$24V_AH,24.3,3.591
$10V_AH,10.7,1.311
$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,17.525,27.300,175.225,473.025,0.000,23.086,32.002,155.461,1.000,0.000,0.000,11.022,0.000,1211.775,755.336,716.227,262.168,33.319,1088.897,0.000,572.860,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,108.914,723.281,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,261.650,205.841,285.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15917,390
$CAP_FILE_SIZE,44624,0
$CFSIZE,260165632,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041208,163327,4807.167,-12223.169,11,1.2,11,18.3