version: 66.04
glider: 161
mission: 1
dive: 17
start: 12 4 108 9 58 45
data:
$ID,161
$MISSION,1
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$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,48
$T_MISSION,60
$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,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,600
$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,-2716.4578
$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,43
$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,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,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
$GPS1,095159,4806.630,-12222.581,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.0
$GPS2,095807,4806.594,-12222.528,11,1.5,27,18.3
$SPEED_LIMITS,0.156,0.188
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.150
$KALMAN_X,504.8,181.0,39.8,544.5,92.8
$KALMAN_Y,-844.9,-232.7,-1.1,-2011.6,-106.8
$MHEAD_RNG_PITCHd_Wd,304.8,3177,-22.4,-9.028
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.96,-78.2,0.0,0.0,0,85,0.00,0.00,-71.25,0.000,2,0.000,0.000,134,2316,3111
$GC,86,-0.96,-78.2,3.3,-3.4,12,128,10.82,0.00,-25.67,0.000,6,0.247,0.000,2826,2316,3964
$GC,190,-0.96,-78.2,9.3,-5.8,31,197,0.00,2.22,0.00,0.000,4,0.000,0.051,2826,905,3964
$GC,228,-0.96,-78.2,11.1,-4.8,38,235,0.00,2.20,0.00,0.000,6,0.000,0.055,2818,2281,3964
$GC,297,-0.96,-78.2,14.7,-5.5,51,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2281,3964
$GC,362,-0.96,-78.2,18.6,-6.1,63,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2281,3964
$GC,425,-0.96,-78.2,23.1,-7.3,75,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2281,3964
$GC,490,-0.96,-78.2,27.9,-7.3,87,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2281,3964
$GC,553,-0.96,-78.2,32.8,-7.6,99,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2280,3964
$GC,617,-0.96,-78.2,38.0,-8.0,111,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2281,3964
$GC,681,-0.96,-78.2,42.9,-7.8,123,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2281,3964
$GC,810,-0.96,-78.2,53.1,-7.9,147,816,0.00,2.30,0.00,0.000,4,0.000,0.074,2807,3703,3964
$GC,878,-0.96,-78.2,58.9,-9.0,160,886,0.00,2.15,0.00,0.000,6,0.000,0.048,2807,2314,3964
$GC,1012,-0.96,-78.2,69.7,-7.9,185,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2314,3964
$GC,1140,-0.96,-78.2,79.8,-7.9,209,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2314,3964
$GC,1269,-0.96,-78.2,89.3,-7.2,233,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2314,3964
$GC,1397,-0.96,-78.2,98.0,-6.8,257,1403,0.00,2.25,0.00,0.000,4,0.000,0.075,2798,3703,3964
$GC,1444,-0.96,-78.2,101.4,-7.6,266,1452,0.08,2.15,0.00,0.000,6,0.164,0.048,2823,2304,3964
$STATE,1502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1502,begin apogee
$GC,1505,-0.19,0.0,105.2,5.9,277,1562,0.77,0.00,52.78,0.702,6,0.144,0.000,3071,2197,3670
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1563,0.96,78.2,105.7,0.0,287,1624,1.05,0.00,57.65,0.666,6,0.079,0.000,3447,2197,3351
$GC,1750,0.96,78.2,85.3,13.6,322,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,3350
$GC,1879,0.96,78.2,69.0,12.3,346,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,3350
$GC,2007,0.96,78.2,53.8,11.7,370,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,3350
$GC,2135,0.96,78.2,39.6,10.6,394,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2196,3350
$GC,2200,0.96,78.2,32.7,10.4,406,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,3350
$GC,2265,0.96,78.2,26.0,10.3,418,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2197,3350
$GC,2328,0.96,78.2,19.6,9.9,430,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2196,3350
$GC,2393,0.96,78.2,13.8,9.0,442,2399,0.00,2.15,0.00,0.000,4,0.000,0.045,3458,788,3350
$GC,2425,0.96,85.0,11.1,8.5,448,2438,0.00,2.20,6.62,0.561,6,0.000,0.047,3458,2207,3322
$GC,2500,1.07,173.7,7.2,2.1,462,2566,0.00,0.00,64.05,0.624,6,0.000,0.000,3458,2207,2960
$GC,2628,1.20,280.1,4.8,0.8,485,2712,0.20,2.25,77.20,0.604,4,0.070,0.044,3545,785,2528
$STATE,2725,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,3.6,1.019080
$STATE,2784,end surface coast,CONTROL_FINISHED_OK
$STATE,2784,begin surface
$SM_CCo,2801,237.65,0.588,0,0,1223,600.00
$SM_GC,1.98,0.00,0.00,237.65,0.000,0.000,0.588,129,2307,1223,-9.41,0.20,600.00
$IRIDIUM_FIX,4751.72,-12340.51,280298,080845
$TT8_MAMPS,0.049088
$HUMID,1518
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,18.70
$XPDR_PINGS,7
$24V_AH,24.1,2.219
$10V_AH,10.6,1.001
$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,22.775,22.450,258.300,237.650,0.000,27.728,29.303,229.053,1.750,0.000,0.000,29.639,0.000,1376.436,550.482,1126.146,350.535,33.328,1000.435,0.000,936.027,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,75.166,701.805,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.916,651.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22289,513
$CAP_FILE_SIZE,57161,0
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,105007,4806.749,-12222.718,10,1.6,26,18.3