version: 66.04
glider: 169
mission: 1
dive: 27
start: 7 16 109 15 14 39
data:
$ID,169
$MISSION,1
$DIVE,27
$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,-6008.6982
$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
$GPS1,150125,4807.255,-12222.986,40,1.3,40,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-80.0
$GPS2,151344,4807.171,-12222.878,15,1.0,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.113
$KALMAN_X,3612.3,500.9,-84.5,-4309.8,330.9
$KALMAN_Y,1474.5,-533.0,115.4,-1696.5,-184.4
$MHEAD_RNG_PITCHd_Wd,287.6,2069,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-97.8,0.0,0.0,0,92,0.00,0.00,-75.55,0.000,2,0.000,0.000,134,2350,3360
$GC,94,-0.49,-97.8,3.5,-4.6,12,121,9.23,2.22,-9.50,0.000,4,0.225,0.074,2560,957,3747
$GC,257,-0.49,-97.8,19.6,-9.1,48,264,0.00,2.33,0.00,0.000,6,0.000,0.071,2560,2386,3747
$GC,329,-0.49,-97.8,26.7,-10.2,64,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2385,3747
$GC,400,-0.49,-97.8,34.2,-10.9,80,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2386,3747
$GC,469,-0.49,-97.8,42.5,-11.5,96,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2386,3747
$GC,609,-0.49,-97.8,58.5,-11.3,127,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2386,3747
$GC,746,-0.49,-97.8,74.6,-11.3,158,757,0.00,2.30,0.00,0.000,4,0.000,0.077,2559,3791,3747
$GC,812,-0.49,-97.8,80.2,-6.6,171,818,0.00,2.22,0.00,0.000,6,0.000,0.058,2560,2371,3747
$GC,952,-0.49,-97.8,91.5,-10.1,202,958,0.00,2.35,0.00,0.000,4,0.000,0.078,2560,3792,3747
$GC,1039,-0.49,-97.8,100.8,-10.5,221,1045,0.00,2.25,0.00,0.000,6,0.000,0.060,2560,2361,3747
$STATE,1102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1106,-0.12,0.0,107.3,10.0,235,1184,0.43,0.00,72.32,0.634,6,0.199,0.000,2677,2458,3344
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1186,0.49,97.8,110.2,0.0,248,1270,0.68,2.33,73.47,0.613,4,0.168,0.043,2884,1020,2945
$GC,1284,0.49,97.8,103.8,8.2,265,1290,0.00,2.30,0.00,0.000,6,0.000,0.046,2884,2468,2945
$GC,1423,0.49,97.8,89.0,10.4,296,1430,0.00,2.12,0.00,0.000,4,0.000,0.051,2884,3806,2945
$GC,1478,0.49,97.8,82.4,11.9,308,1485,0.00,2.15,0.00,0.000,6,0.000,0.037,2895,2419,2945
$GC,1619,0.49,97.8,68.0,10.0,339,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2418,2944
$GC,1757,0.49,97.8,54.1,10.0,370,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2418,2944
$GC,1897,0.49,97.8,40.0,10.0,401,1903,0.00,2.12,0.00,0.000,4,0.000,0.045,2906,1002,2944
$GC,1909,0.49,97.8,38.8,10.0,403,1916,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,2461,2943
$GC,1981,0.49,97.8,31.8,9.9,419,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2460,2943
$GC,2052,0.49,97.8,24.5,10.0,435,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2461,2944
$GC,2121,0.49,97.8,18.0,9.1,451,2128,0.00,2.10,0.00,0.000,4,0.000,0.051,2906,3811,2943
$GC,2143,0.49,97.8,15.7,9.9,455,2150,0.10,2.10,0.00,0.000,6,0.186,0.037,2887,2426,2942
$GC,2215,0.49,97.8,10.0,7.2,471,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2425,2942
$GC,2287,0.58,165.8,7.0,3.7,487,2345,0.00,2.22,49.25,0.584,4,0.000,0.051,2887,3805,2668
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,3.0,1.019751
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2478,173.27,0.561,0,0,1367,485.20
$SM_GC,0.76,0.00,0.00,173.27,0.000,0.000,0.561,142,2353,1367,-8.07,-0.76,485.20
$IRIDIUM_FIX,4748.51,-12220.12,101098,151511
$TT8_MAMPS,0.027612
$HUMID,1839
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,15.10
$XPDR_PINGS,4
$24V_AH,24.5,2.475
$10V_AH,10.6,1.672
$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,18.650,35.775,195.050,173.275,0.000,74.229,86.242,356.970,2.750,0.000,0.000,15.752,805.043,401.579,454.190,1127.641,609.308,33.329,946.629,0.000,1114.408,0.000,12.725,0.000
$DEVICE_MAMPS,224.731,92.807,634.309,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.539,876.688,791.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35004,524
$CAP_FILE_SIZE,59542,0
$CFSIZE,260165632,257347584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160709,155932,4807.345,-12223.044,16,1.3,16,18.3