version: 66.04
glider: 169
mission: 1
dive: 4
start: 7 15 109 21 23 26
data:
$ID,169
$MISSION,1
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,80
$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,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,450
$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,-5474.5713
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3345
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-75.823097
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,211607,4807.262,-12222.581,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-76.8
$GPS2,212232,4807.252,-12222.580,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.224
$KALMAN_X,-91.9,-77.6,-59.7,319.5,-30.8
$KALMAN_Y,231.6,189.7,149.2,-1064.9,79.5
$MHEAD_RNG_PITCHd_Wd,143.8,2427,-19.7,-10.000
$D_GRID,107
$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,13,begin dive
$GC,14,-0.65,-117.3,0.0,0.0,0,129,0.00,0.00,-112.10,0.000,2,0.000,0.000,153,2354,3326
$GC,131,-0.65,-117.3,3.0,-4.9,18,160,9.90,2.45,-12.55,0.000,4,0.264,0.099,2490,3794,3825
$GC,400,-0.65,-117.3,47.1,-18.2,79,406,0.00,2.28,0.00,0.000,6,0.000,0.067,2490,2371,3827
$GC,538,-0.65,-117.3,71.5,-16.4,110,545,0.00,2.38,0.00,0.000,4,0.000,0.085,2490,3794,3827
$STATE,744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,744,begin apogee
$GC,750,-0.13,0.0,107.4,16.8,156,839,0.62,0.00,86.38,0.618,6,0.216,0.000,2657,2367,3345
$STATE,840,end apogee,CONTROL_FINISHED_OK
$STATE,840,begin climb
$GC,842,0.65,117.3,112.4,0.0,171,937,0.93,0.00,88.03,0.600,6,0.196,0.000,2907,2368,2865
$GC,1070,0.65,117.3,86.7,13.3,217,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2368,2865
$GC,1207,0.65,117.3,69.0,12.3,248,1214,0.00,2.28,0.00,0.000,4,0.000,0.053,2907,3806,2864
$GC,1289,0.65,117.3,57.1,14.7,266,1296,0.00,2.22,0.00,0.000,6,0.000,0.038,2918,2355,2864
$GC,1431,0.65,117.3,39.1,12.7,297,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2354,2863
$GC,1501,0.65,117.3,30.5,11.9,313,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2354,2862
$GC,1571,0.65,117.3,22.2,11.5,329,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2354,2862
$GC,1642,0.65,117.3,14.1,11.3,345,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2354,2862
$GC,1712,0.66,124.4,6.8,9.6,361,1726,0.00,2.28,6.12,0.482,4,0.000,0.054,2918,3799,2837
$STATE,1755,end climb,SURFACE_DEPTH_REACHED
$STATE,1755,begin surface coast
$FINISH,2.6,1.020139
$STATE,1791,end surface coast,CONTROL_FINISHED_OK
$STATE,1791,begin surface
$SM_CCo,1808,166.05,0.559,0,0,1510,450.13
$SM_GC,0.75,0.00,0.00,166.05,0.000,0.000,0.559,141,2344,1510,-8.03,-1.02,450.13
$IRIDIUM_FIX,4748.51,-12212.96,091098,202055
$TT8_MAMPS,0.027612
$HUMID,1887
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,15.60
$XPDR_PINGS,2
$24V_AH,24.6,0.616
$10V_AH,10.7,0.374
$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,19.975,18.400,180.525,166.050,0.000,24.853,32.152,242.833,1.250,0.000,0.000,12.682,565.839,203.788,420.194,812.405,366.698,32.326,794.008,0.000,808.698,0.000,5.947,0.000
$DEVICE_MAMPS,263.848,98.943,618.202,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.970,631.386,569.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25423,378
$CAP_FILE_SIZE,40049,0
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150709,215655,4807.140,-12222.538,10,1.9,10,18.3