version: 66.04
glider: 169
mission: 1
dive: 10
start: 7 16 109 1 25 15
data:
$ID,169
$MISSION,1
$DIVE,10
$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,-5619.373
$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
$GPS1,011549,4806.659,-12222.402,11,1.4,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-77.3
$GPS2,012420,4806.647,-12222.418,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.105,-0.210
$KALMAN_X,-822.4,-196.2,-37.6,1346.9,-106.6
$KALMAN_Y,1704.4,444.0,74.8,-3835.5,177.2
$MHEAD_RNG_PITCHd_Wd,135.3,1305,-19.7,-10.000
$D_GRID,108
$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,-117.3,0.0,0.0,0,110,0.00,0.00,-93.55,0.000,3,0.000,0.000,145,2345,3824
$GC,113,-0.65,-117.3,3.2,-5.9,15,127,9.70,2.25,0.00,0.000,4,0.255,0.064,2508,952,3825
$GC,366,-0.65,-117.3,43.4,-15.0,74,373,0.00,2.33,0.00,0.000,6,0.000,0.074,2508,2384,3826
$GC,506,-0.65,-117.3,66.3,-16.6,105,512,0.00,2.22,0.00,0.000,4,0.000,0.061,2508,956,3826
$GC,547,-0.65,-117.3,73.3,-15.6,114,554,0.00,2.30,0.00,0.000,6,0.000,0.071,2508,2380,3826
$GC,686,-0.65,-117.3,95.3,-15.4,145,692,0.00,2.33,0.00,0.000,4,0.000,0.082,2508,3810,3826
$GC,711,-0.65,-117.3,99.7,-16.6,150,718,0.00,2.30,0.00,0.000,6,0.000,0.061,2508,2373,3827
$STATE,763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,763,begin apogee
$GC,767,-0.13,0.0,108.4,16.1,161,861,0.60,0.00,86.40,0.627,6,0.225,0.000,2663,2373,3346
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,863,0.65,117.3,113.2,0.0,177,958,0.90,0.00,88.43,0.608,6,0.187,0.000,2911,2373,2865
$GC,1091,0.65,117.3,88.4,13.1,223,1097,0.00,2.28,0.00,0.000,4,0.000,0.051,2911,3809,2864
$GC,1120,0.65,117.3,84.0,15.0,229,1126,0.00,2.22,0.00,0.000,6,0.000,0.035,2922,2354,2865
$GC,1258,0.65,117.3,64.9,13.3,260,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2353,2864
$GC,1397,0.65,117.3,47.0,12.3,291,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2353,2863
$GC,1532,0.65,117.3,30.6,11.6,322,1539,0.00,2.28,0.00,0.000,4,0.000,0.052,2922,3801,2863
$GC,1586,0.65,117.3,23.0,14.6,334,1593,0.00,2.20,0.00,0.000,6,0.000,0.037,2934,2355,2864
$GC,1657,0.65,117.3,14.5,11.9,350,1664,0.00,2.12,0.00,0.000,4,0.000,0.044,2944,947,2863
$GC,1688,0.65,117.3,11.1,11.8,356,1695,0.00,2.25,0.00,0.000,6,0.000,0.050,2944,2399,2863
$GC,1759,0.65,117.3,3.2,10.6,372,1766,0.00,2.20,0.00,0.000,4,0.000,0.055,2945,3808,2862
$STATE,1771,end climb,SURFACE_DEPTH_REACHED
$STATE,1771,begin surface coast
$FINISH,1.7,1.019222
$STATE,1800,end surface coast,CONTROL_FINISHED_OK
$STATE,1801,begin surface
$SM_CCo,1818,182.18,0.562,0,0,1387,480.05
$SM_GC,0.77,0.00,0.00,182.18,0.000,0.000,0.562,147,2341,1387,-8.04,-1.10,480.05
$IRIDIUM_FIX,4751.72,-12220.85,101098,010144
$TT8_MAMPS,0.027612
$HUMID,1870
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,24.4,1.073
$10V_AH,10.7,0.660
$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,19.850,31.500,174.825,182.175,0.000,45.631,56.126,264.370,1.250,0.000,0.000,14.917,579.257,263.893,426.445,817.244,436.054,33.332,801.780,0.000,809.463,0.000,6.256,0.000
$DEVICE_MAMPS,254.644,82.069,627.406,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,256.173,626.122,565.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25603,381
$CAP_FILE_SIZE,43584,0
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,015957,4806.575,-12222.217,37,2.1,56,18.3