version: 66.04
glider: 169
mission: 1
dive: 5
start: 7 15 109 22 2 55
data:
$ID,169
$MISSION,1
$DIVE,5
$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,480
$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,-5506.2744
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2718
$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
$GPS1,215655,4807.140,-12222.538,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-79.4
$GPS2,220201,4807.143,-12222.547,25,1.8,30,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,-0.222
$KALMAN_X,-171.2,-103.9,-56.8,463.1,-52.2
$KALMAN_Y,418.3,257.7,146.5,-1518.1,121.7
$MHEAD_RNG_PITCHd_Wd,142.6,2223,-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,12,begin dive
$GC,14,-0.65,-117.3,0.0,0.0,0,92,0.00,0.00,-75.20,0.000,2,0.000,0.000,141,2344,3461
$GC,94,-0.65,-117.3,3.6,-7.0,12,121,9.77,2.47,-8.68,0.000,4,0.258,0.099,2498,3791,3826
$GC,363,-0.65,-117.3,49.8,-17.4,73,368,0.00,2.28,0.00,0.000,6,0.000,0.067,2498,2371,3827
$GC,500,-0.65,-117.3,73.7,-16.2,104,507,0.00,2.38,0.00,0.000,4,0.000,0.087,2498,3789,3827
$STATE,696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,696,begin apogee
$GC,702,-0.13,0.0,107.1,15.6,148,792,0.60,0.00,86.62,0.627,6,0.207,0.000,2663,2371,3345
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,794,0.65,117.3,111.8,0.0,163,888,0.90,0.00,88.22,0.609,6,0.187,0.000,2911,2371,2866
$GC,1021,0.65,117.3,85.9,13.9,209,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2371,2865
$GC,1159,0.65,117.3,67.6,13.0,240,1166,0.00,2.28,0.00,0.000,4,0.000,0.054,2912,3802,2865
$GC,1220,0.65,117.3,58.4,15.8,253,1226,0.00,2.20,0.00,0.000,6,0.000,0.038,2923,2353,2864
$GC,1359,0.65,117.3,39.8,13.1,284,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2352,2864
$GC,1430,0.65,117.3,31.3,11.9,300,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2352,2864
$GC,1499,0.65,117.3,22.8,12.4,316,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2352,2863
$GC,1569,0.65,117.3,14.9,11.1,332,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2352,2863
$GC,1638,0.65,117.3,7.6,10.5,348,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2352,2863
$STATE,1689,end climb,SURFACE_DEPTH_REACHED
$STATE,1689,begin surface coast
$FINISH,2.7,1.020080
$STATE,1728,end surface coast,CONTROL_FINISHED_OK
$STATE,1728,begin surface
$SM_CCo,1743,186.05,0.563,0,0,1387,480.05
$SM_GC,0.55,0.00,0.00,186.05,0.000,0.000,0.563,148,2398,1387,-8.03,0.51,480.05
$IRIDIUM_FIX,4748.51,-12221.84,091098,212116
$TT8_MAMPS,0.026845
$HUMID,1891
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,14.70
$XPDR_PINGS,4
$24V_AH,24.5,0.689
$10V_AH,10.7,0.421
$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,19.900,13.925,174.850,186.050,0.000,24.544,25.050,163.815,1.750,0.000,0.000,31.074,557.778,196.969,411.252,811.101,268.641,33.324,765.291,0.000,788.875,0.000,5.949,0.000
$DEVICE_MAMPS,258.479,111.982,626.639,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,248.624,612.201,552.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25536,369
$CAP_FILE_SIZE,37064,0
$CFSIZE,260165632,258142208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6
$GPS,150709,223606,4807.044,-12222.515,21,1.9,37,18.3