version: 66.04
glider: 161
mission: 1
dive: 9
start: 12 4 108 2 2 22
data:
$ID,161
$MISSION,1
$DIVE,9
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,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,-2506.1165
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,140
$PITCH_MAX,3938
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3670
$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,-19.491602
$PRESSURE_SLOPE,0.0001162844
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043144668
$SEABIRD_T_H,0.00063067116
$SEABIRD_T_I,2.3331902e-05
$SEABIRD_T_J,2.4048572e-06
$SEABIRD_C_G,-9.9688005
$SEABIRD_C_H,1.1159369
$SEABIRD_C_I,-0.00065751909
$SEABIRD_C_J,0.00014078162
$GPS1,015645,4806.378,-12222.444,7,1.9,19,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-75.7
$GPS2,020144,4806.336,-12222.402,9,1.5,14,18.3
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,-0.146
$KALMAN_X,-143.0,-114.1,57.2,1630.8,69.9
$KALMAN_Y,-30.9,88.7,-133.4,-3496.7,-130.1
$MHEAD_RNG_PITCHd_Wd,120.5,797,-24.4,-10.000
$D_GRID,150
$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,11,-1.03,-78.2,0.0,0.0,0,68,0.00,0.00,-54.25,0.000,2,0.000,0.000,132,2309,2885
$GC,69,-1.03,-78.2,3.3,-4.6,9,117,10.77,2.25,-33.17,0.000,4,0.247,0.066,2801,906,3963
$GC,356,-1.03,-78.2,23.5,-7.9,62,363,0.00,2.17,0.00,0.000,6,0.000,0.055,2793,2275,3964
$GC,426,-1.03,-78.2,27.9,-6.4,75,433,0.00,2.12,0.00,0.000,4,0.000,0.051,2793,916,3964
$GC,559,-1.03,-78.2,38.1,-8.6,100,566,0.00,2.17,0.00,0.000,6,0.000,0.056,2785,2294,3964
$GC,629,-1.03,-78.2,44.3,-8.6,113,635,0.00,2.28,0.00,0.000,4,0.000,0.073,2774,3700,3964
$GC,676,-1.03,-78.2,49.3,-11.0,122,684,0.12,2.17,0.00,0.000,6,0.177,0.047,2804,2305,3965
$GC,811,-1.03,-78.2,62.6,-9.7,147,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2305,3965
$GC,939,-1.03,-78.2,73.2,-7.6,171,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2305,3965
$GC,1067,-1.03,-78.2,82.8,-8.1,195,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2305,3965
$GC,1195,-1.03,-78.2,93.0,-7.9,219,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2305,3965
$GC,1323,-1.03,-78.2,102.8,-7.2,243,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2305,3965
$GC,1451,-1.03,-78.2,112.3,-6.8,267,1457,0.00,2.25,0.00,0.000,4,0.000,0.074,2795,3701,3964
$STATE,1492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1492,begin apogee
$GC,1497,-0.19,0.0,115.8,8.1,275,1553,0.88,0.00,52.70,0.713,6,0.151,0.000,3072,2194,3670
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1553,begin climb
$GC,1554,1.03,78.2,116.8,0.0,285,1621,1.12,2.25,58.10,0.679,4,0.079,0.045,3483,793,3351
$GC,1645,1.03,78.2,108.6,12.3,302,1653,0.00,2.28,0.00,0.000,6,0.000,0.045,3483,2205,3351
$GC,1779,1.03,78.2,90.0,13.6,327,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2205,3350
$GC,1908,1.03,78.2,72.2,14.0,351,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2205,3351
$GC,2036,1.03,78.2,55.6,12.6,375,2042,0.00,2.17,0.00,0.000,4,0.000,0.044,3494,790,3350
$GC,2089,1.03,78.2,49.1,12.1,385,2095,0.00,2.20,0.00,0.000,6,0.000,0.044,3494,2206,3350
$GC,2222,1.03,78.2,33.7,11.8,410,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,2206,3350
$GC,2286,1.03,78.2,25.8,12.3,422,2293,0.00,2.20,0.00,0.000,4,0.000,0.059,3494,3607,3350
$GC,2313,1.03,78.2,22.4,12.6,427,2320,0.10,2.12,0.00,0.000,6,0.200,0.036,3476,2187,3350
$GC,2383,1.03,78.2,14.7,11.2,440,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2187,3350
$GC,2446,1.06,101.0,8.7,8.0,452,2472,0.00,2.28,17.60,0.642,4,0.000,0.059,3476,3606,3257
$GC,2507,1.22,229.1,6.7,-1.0,463,2608,0.10,2.12,92.57,0.618,6,0.073,0.038,3533,2207,2735
$GC,2670,1.33,320.4,5.8,2.2,492,2725,0.10,0.00,53.20,0.603,2,0.088,0.000,3573,2207,2443
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,3.8,1.018227
$STATE,2825,end surface coast,CONTROL_FINISHED_OK
$STATE,2825,begin surface
$SM_CCo,2839,182.90,0.596,0,0,1426,550.21
$SM_GC,2.49,0.00,0.00,182.90,0.000,0.000,0.596,133,2313,1426,-9.40,0.37,550.21
$IRIDIUM_FIX,4751.72,-12056.72,280298,010127
$TT8_MAMPS,0.049855
$HUMID,1523
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.0,45.5
$24V_AH,24.1,1.398
$10V_AH,10.6,0.598
$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,23.100,35.500,274.175,182.900,0.000,25.686,27.865,181.446,1.250,0.000,0.000,16.072,0.000,1388.604,518.712,1122.355,289.930,33.322,977.264,0.000,942.907,0.000,5.526,0.000
$DEVICE_MAMPS,246.974,79.001,713.310,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.083,647.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25322,520
$CAP_FILE_SIZE,55649,0
$CFSIZE,260165632,257970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,025423,4806.193,-12222.146,61,3.2,80,18.3