version: 66.04
glider: 164
mission: 2
dive: 11
start: 3 4 109 3 38 24
data:
$ID,164
$MISSION,2
$DIVE,11
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$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,370
$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,-32326.174
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,204
$ROLL_MAX,3882
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3962
$C_VBD,3288
$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,40
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.9007363
$PRESSURE_SLOPE,0.0001158597
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.94
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$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,0.0043488215
$SEABIRD_T_H,0.00063635618
$SEABIRD_T_I,2.5028745e-05
$SEABIRD_T_J,2.7326657e-06
$SEABIRD_C_G,-10.160287
$SEABIRD_C_H,1.1436546
$SEABIRD_C_I,-0.00018147723
$SEABIRD_C_J,0.00010835609
$GPS1,033308,4806.899,-12222.596,7,1.9,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.4
$GPS2,033744,4806.895,-12222.574,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.245
$KALMAN_X,-1639.8,-310.7,15.9,2783.0,-271.3
$KALMAN_Y,3546.5,777.0,-151.0,-6164.6,559.1
$MHEAD_RNG_PITCHd_Wd,136.5,1803,-16.6,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.81,-161.3,0.0,0.0,0,90,0.00,0.00,-76.80,0.000,2,0.000,0.000,125,2096,3512
$GC,92,-0.81,-161.3,3.2,-6.4,13,116,10.23,2.33,-9.62,0.000,4,0.269,0.085,2508,3516,3943
$GC,356,-0.81,-161.3,37.2,-11.1,62,362,0.00,2.28,0.00,0.000,6,0.000,0.061,2508,2106,3944
$GC,425,-0.81,-161.3,44.9,-11.3,75,431,0.00,2.30,0.00,0.000,4,0.000,0.072,2509,3509,3944
$GC,536,-0.81,-161.3,56.6,-11.2,96,544,0.00,2.28,0.00,0.000,6,0.000,0.065,2509,2093,3944
$GC,671,-0.81,-161.3,71.0,-10.3,121,677,0.00,2.28,0.00,0.000,4,0.000,0.071,2509,692,3944
$GC,750,-0.81,-161.3,79.9,-11.1,136,763,0.00,2.28,0.00,0.000,6,0.000,0.065,2508,2101,3944
$GC,891,-0.81,-161.3,93.8,-9.5,161,896,0.00,2.28,0.00,0.000,4,0.000,0.071,2508,681,3944
$GC,959,-0.81,-161.3,101.1,-10.7,174,966,0.00,2.28,0.00,0.000,6,0.000,0.063,2509,2100,3944
$STATE,1075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1075,begin apogee
$GC,1079,-0.19,0.0,112.5,9.7,196,1207,0.62,0.00,123.18,0.847,6,0.146,0.000,2706,2100,3287
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1209,0.81,161.3,114.5,0.0,219,1343,0.98,0.00,125.78,0.809,6,0.094,0.000,3029,2099,2629
$GC,1470,0.81,161.3,72.7,19.7,267,1476,0.00,2.35,0.00,0.000,4,0.000,0.068,3029,691,2628
$GC,1565,0.81,161.3,55.3,17.7,285,1572,0.00,2.28,0.00,0.000,6,0.000,0.054,3030,2100,2628
$GC,1699,0.81,161.3,31.5,17.4,310,1705,0.00,2.33,0.00,0.000,4,0.000,0.070,3029,690,2627
$GC,1747,0.81,161.3,23.1,16.8,319,1753,0.00,2.25,0.00,0.000,6,0.000,0.055,3030,2092,2627
$GC,1816,0.81,161.3,11.6,16.3,332,1823,0.00,2.30,0.00,0.000,4,0.000,0.071,3030,694,2627
$GC,1843,0.81,161.3,7.7,14.9,337,1850,0.00,2.25,0.00,0.000,6,0.000,0.056,3030,2097,2627
$STATE,1901,end climb,SURFACE_DEPTH_REACHED
$STATE,1901,begin surface coast
$FINISH,1.2,1.019708
$STATE,1960,end surface coast,CONTROL_FINISHED_OK
$STATE,1960,begin surface
$SM_CCo,1973,162.23,0.749,1,0,1779,370.16
$SM_GC,1.14,0.00,0.00,162.23,0.000,0.000,0.749,122,2097,1779,-8.29,-0.06,370.16
$IRIDIUM_FIX,4751.72,-12055.06,290598,030335
$TT8_MAMPS,0.049855
$HUMID,1416
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,42.1
$24V_AH,24.0,1.677
$10V_AH,10.6,0.561
$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,20.050,32.025,248.950,162.225,0.000,28.801,23.268,150.702,1.750,0.000,0.000,14.332,0.000,895.296,479.300,771.472,272.386,33.304,823.731,0.000,640.887,0.000,5.544,0.000
$DEVICE_MAMPS,269.217,85.137,846.768,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.934,246.418,415.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19191,359
$CAP_FILE_SIZE,38543,0
$CFSIZE,260165632,258527232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,041432,4806.713,-12222.544,8,1.9,8,18.3