version: 66.04
glider: 169
mission: 1
dive: 26
start: 7 16 109 14 13 15
data:
$ID,169
$MISSION,1
$DIVE,26
$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,71
$T_MISSION,85
$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,100
$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,485
$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,-5992.3174
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$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,2450
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$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
$GPS1,140622,4807.185,-12222.877,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-78.0
$GPS2,141222,4807.122,-12222.818,12,2.5,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.100
$KALMAN_X,3205.1,497.5,-98.0,-3811.3,368.0
$KALMAN_Y,1670.8,-531.5,133.8,-2000.8,-159.2
$MHEAD_RNG_PITCHd_Wd,283.1,2186,-15.7,-7.042
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.49,-97.8,0.0,0.0,0,123,0.00,0.00,-106.20,0.000,2,0.000,0.000,150,2352,3215
$GC,125,-0.49,-97.8,3.1,-3.5,17,154,9.35,2.28,-13.27,0.000,4,0.231,0.111,2558,955,3746
$GC,219,-0.49,-97.8,12.7,-9.4,36,225,0.00,2.35,0.00,0.000,6,0.000,0.071,2557,2387,3746
$GC,288,-0.49,-97.8,19.6,-9.7,52,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2387,3746
$GC,357,-0.49,-97.8,26.9,-11.0,68,364,0.00,2.33,0.00,0.000,4,0.000,0.077,2558,3789,3746
$GC,370,-0.49,-97.8,28.4,-11.0,70,377,0.00,2.28,0.00,0.000,6,0.000,0.058,2558,2374,3746
$GC,441,-0.49,-97.8,36.3,-11.5,86,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2374,3747
$GC,513,-0.49,-97.8,44.8,-11.3,102,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2374,3747
$GC,652,-0.49,-97.8,61.2,-11.7,133,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2374,3747
$GC,790,-0.49,-97.8,76.9,-11.5,164,797,0.00,2.35,0.00,0.000,4,0.000,0.081,2558,3789,3747
$GC,818,-0.49,-97.8,80.1,-11.7,169,824,0.00,2.25,0.00,0.000,6,0.000,0.060,2558,2367,3746
$GC,955,-0.49,-97.8,96.1,-11.1,200,962,0.00,2.38,0.00,0.000,4,0.000,0.081,2558,3792,3747
$GC,975,-0.49,-97.8,98.4,-11.3,204,982,0.00,2.28,0.00,0.000,6,0.000,0.061,2558,2372,3746
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1060,-0.12,0.0,107.2,10.5,222,1139,0.43,0.00,72.20,0.632,6,0.202,0.000,2674,2471,3344
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1141,0.49,97.8,110.4,0.0,235,1225,0.68,2.35,73.55,0.614,4,0.171,0.044,2880,1020,2946
$GC,1230,0.49,97.8,105.3,7.2,250,1236,0.00,2.33,0.00,0.000,6,0.000,0.045,2880,2460,2946
$GC,1370,0.49,97.8,90.9,10.3,281,1376,0.00,2.12,0.00,0.000,4,0.000,0.051,2880,3814,2945
$GC,1403,0.49,97.8,86.7,11.9,288,1409,0.00,2.17,0.00,0.000,6,0.000,0.038,2891,2419,2945
$GC,1544,0.49,97.8,71.4,10.9,319,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2418,2945
$GC,1681,0.49,97.8,56.8,10.2,350,1688,0.00,2.20,0.00,0.000,4,0.000,0.051,2891,3814,2945
$GC,1720,0.49,97.8,52.1,11.8,358,1726,0.00,2.12,0.00,0.000,6,0.000,0.038,2902,2425,2944
$GC,1858,0.49,97.8,37.5,10.3,389,1865,0.00,2.15,0.00,0.000,4,0.000,0.045,2913,1013,2944
$GC,1875,0.49,97.8,35.7,10.3,392,1882,0.00,2.25,0.00,0.000,6,0.000,0.048,2913,2466,2944
$GC,1945,0.49,97.8,28.1,10.6,408,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2466,2944
$GC,2018,0.49,97.8,20.4,10.3,424,2025,0.00,2.22,0.00,0.000,4,0.000,0.045,2924,1010,2944
$GC,2031,0.49,97.8,18.9,10.2,426,2038,0.10,2.25,0.00,0.000,6,0.179,0.048,2893,2471,2943
$GC,2103,0.49,97.8,12.7,8.2,442,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2471,2943
$GC,2172,0.53,124.8,8.2,5.7,458,2199,0.00,2.08,20.17,0.582,4,0.000,0.051,2893,3811,2836
$GC,2435,0.70,267.6,3.8,0.1,519,2496,0.10,2.12,55.60,0.581,2,0.061,0.036,2959,2412,2534
$STATE,2497,end climb,SURFACE_DEPTH_REACHED
$STATE,2497,begin surface coast
$FINISH,2.1,1.019223
$STATE,2667,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2667,begin surface
$SM_CCo,2682,142.73,0.559,0,0,1366,485.20
$SM_GC,0.72,0.00,0.00,142.73,0.000,0.000,0.559,134,2350,1366,-8.10,-0.88,485.20
$IRIDIUM_FIX,4748.51,-12220.12,101098,131346
$TT8_MAMPS,0.027612
$HUMID,1882
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,16.40
$XPDR_PINGS,8
$24V_AH,24.5,2.385
$10V_AH,10.6,1.603
$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,19.050,45.075,221.525,142.725,0.000,25.150,29.557,204.060,3.750,0.000,0.000,32.445,867.578,259.289,460.330,1260.673,342.623,33.329,1007.081,0.000,1230.680,0.000,12.768,0.000
$DEVICE_MAMPS,230.867,111.215,632.008,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.319,1010.156,911.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38191,569
$CAP_FILE_SIZE,58195,0
$CFSIZE,260165632,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,150125,4807.255,-12222.986,40,1.3,40,18.3