version: 66.04
glider: 167
mission: 1
dive: 27
start: 1 29 109 17 23 59
data:
$ID,167
$MISSION,1
$DIVE,27
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,40
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,0
$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,-3286.8027
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,174
$PITCH_MAX,3944
$C_PITCH,2733
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3392
$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,-14.577106
$PRESSURE_SLOPE,0.0001158971
$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
$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,0.0042613237
$SEABIRD_T_H,0.000318543
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,171537,4806.583,-12221.794,7,1.3,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.0
$GPS2,172336,4806.660,-12221.834,9,1.9,13,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,4817.459,-12221.834
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.244
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,341.7,20000,-21.2,-12.500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,89,0.00,0.00,-72.05,0.000,2,0.000,0.000,172,2085,2989
$GC,92,-1.03,-146.6,3.2,-2.4,7,140,9.70,2.17,-32.58,0.000,4,0.275,0.059,2392,686,3961
$GC,392,-1.03,-146.6,51.5,-18.1,32,396,0.00,2.22,0.00,0.000,6,0.000,0.047,2384,2111,3961
$GC,529,-1.03,-146.6,74.8,-17.1,41,532,0.00,2.20,0.00,0.000,4,0.000,0.045,2383,684,3961
$STATE,763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,763,begin apogee
$GC,771,-0.20,0.0,113.3,15.6,55,876,1.00,0.00,101.60,0.707,6,0.185,0.000,2664,2104,3392
$STATE,877,end apogee,CONTROL_FINISHED_OK
$STATE,877,begin climb
$GC,879,1.03,146.6,117.5,0.0,62,997,1.20,2.40,108.90,0.680,4,0.104,0.058,3060,3507,2794
$GC,1030,1.03,146.6,99.0,19.1,71,1037,0.00,2.20,0.00,0.000,6,0.000,0.035,3061,2104,2792
$GC,1162,1.03,146.6,75.7,17.8,80,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2102,2793
$GC,1287,1.03,146.6,55.1,16.2,88,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2102,2792
$GC,1418,1.03,146.6,35.4,14.5,97,1422,0.00,2.25,0.00,0.000,4,0.000,0.056,3061,3517,2792
$GC,1435,1.03,146.6,32.6,15.6,98,1439,0.00,2.17,0.00,0.000,6,0.000,0.036,3061,2091,2793
$GC,1504,1.03,146.6,23.1,12.9,104,1508,0.00,2.25,0.00,0.000,4,0.000,0.056,3062,3507,2793
$GC,1581,1.03,146.6,12.6,12.8,110,1588,0.00,2.17,0.00,0.000,6,0.000,0.035,3062,2095,2792
$GC,1652,1.06,171.3,5.1,11.1,117,1673,0.00,0.62,18.52,0.600,3,0.000,0.050,3062,1681,2692
$STATE,1674,end climb,SURFACE_DEPTH_REACHED
$STATE,1674,begin surface coast
$FINISH,2.7,1.048873
$STATE,1702,end surface coast,CONTROL_FINISHED_OK
$STATE,1702,begin surface
$SM_CCo,1720,280.77,0.608,0,0,1149,550.21
$SM_GC,1.46,0.00,0.00,280.77,0.000,0.000,0.608,172,2111,1149,-8.00,0.31,550.21
$IRIDIUM_FIX,4748.51,-12224.57,250498,171748
$TT8_MAMPS,0.029146
$HUMID,1356
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,37.2
$24V_AH,24.3,3.719
$10V_AH,10.8,1.250
$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,20.250,23.575,229.025,280.775,0.000,52.661,59.940,206.291,1.000,0.000,0.000,13.961,269.789,886.045,584.993,351.248,411.333,0.000,811.779,0.000,344.181,0.000,11.550,0.000
$DEVICE_MAMPS,274.586,59.059,707.174,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,81.966,45.006,75.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6558,122
$CAP_FILE_SIZE,33055,0
$CFSIZE,260165632,257822720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290109,175808,4806.775,-12222.009,12,1.1,12,18.3