version: 66.04
glider: 170
mission: 1
dive: 22
start: 7 16 109 13 2 41
data:
$ID,170
$MISSION,1
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,80
$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,-8
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,-9731.9482
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-62.362949
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,125144,4806.975,-12223.189,13,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-79.7
$GPS2,130144,4806.892,-12223.108,14,1.5,14,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,0.196
$KALMAN_X,-1709.7,130.0,42.4,1814.4,49.2
$KALMAN_Y,-3108.0,-278.0,-39.0,2824.5,-281.5
$MHEAD_RNG_PITCHd_Wd,322.1,2330,-14.0,-7.042
$D_GRID,101
$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,-0.56,-117.3,0.0,0.0,0,79,0.00,0.00,-62.55,0.000,2,0.000,0.000,132,2115,3072
$GC,81,-0.56,-117.3,3.1,-2.7,12,121,10.38,2.35,-21.83,0.000,4,0.242,0.092,2737,3499,3898
$GC,241,-0.56,-117.3,14.8,-7.9,45,247,0.00,2.25,0.00,0.000,6,0.000,0.050,2737,2085,3898
$GC,317,-0.56,-117.3,20.5,-7.8,61,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2085,3899
$GC,391,-0.56,-117.3,26.4,-7.9,77,397,0.00,2.38,0.00,0.000,4,0.000,0.078,2737,3499,3900
$GC,421,-0.56,-117.3,28.9,-8.5,83,427,0.00,2.22,0.00,0.000,6,0.000,0.050,2737,2094,3900
$GC,497,-0.56,-117.3,35.3,-8.4,99,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2091,3900
$GC,572,-0.56,-117.3,42.0,-8.9,115,578,0.00,2.38,0.00,0.000,4,0.000,0.080,2737,3509,3900
$GC,602,-0.56,-117.3,44.4,-8.7,121,608,0.00,2.22,0.00,0.000,6,0.000,0.049,2737,2092,3900
$GC,747,-0.56,-117.3,57.0,-8.4,152,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2092,3900
$GC,892,-0.56,-117.3,69.2,-8.3,183,898,0.00,2.38,0.00,0.000,4,0.000,0.081,2737,3513,3900
$GC,977,-0.56,-117.3,76.4,-8.2,201,983,0.00,2.22,0.00,0.000,6,0.000,0.050,2737,2090,3900
$GC,1122,-0.56,-117.3,88.7,-8.5,232,1128,0.00,2.35,0.00,0.000,4,0.000,0.081,2737,3499,3900
$GC,1155,-0.56,-117.3,91.5,-8.3,239,1162,0.00,2.20,0.00,0.000,6,0.000,0.050,2737,2086,3900
$STATE,1273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1278,-0.24,0.0,101.1,8.0,264,1369,0.30,0.00,84.93,0.686,6,0.146,0.000,2834,2086,3417
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1372,0.56,117.3,104.0,0.0,281,1469,0.80,2.33,86.85,0.675,4,0.118,0.051,3106,703,2938
$GC,1503,0.56,117.3,93.6,11.0,306,1509,0.00,2.28,0.00,0.000,6,0.000,0.047,3106,2101,2937
$GC,1649,0.56,117.3,76.0,11.9,337,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2101,2937
$GC,1793,0.56,117.3,58.5,12.2,368,1799,0.00,2.30,0.00,0.000,4,0.000,0.061,3106,3519,2937
$GC,1828,0.56,117.3,54.0,12.6,375,1834,0.00,2.25,0.00,0.000,6,0.000,0.043,3116,2093,2937
$GC,1974,0.56,117.3,36.5,11.3,406,1980,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,684,2936
$GC,2023,0.56,117.3,30.9,11.7,416,2029,0.00,2.22,0.00,0.000,6,0.000,0.046,3126,2105,2936
$GC,2099,0.56,117.3,22.0,11.5,432,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2105,2936
$GC,2174,0.56,117.3,13.5,10.9,448,2180,0.00,2.22,0.00,0.000,4,0.000,0.051,3135,687,2935
$GC,2204,0.56,117.3,10.6,10.2,454,2211,0.12,2.22,0.00,0.000,6,0.148,0.046,3099,2115,2935
$GC,2281,0.58,135.7,5.3,6.3,470,2304,0.00,2.28,13.93,0.614,4,0.000,0.061,3099,3502,2863
$GC,2374,0.81,327.0,4.7,-0.7,489,2441,0.22,2.20,60.88,0.639,2,0.063,0.042,3197,2085,2518
$STATE,2442,end climb,SURFACE_DEPTH_REACHED
$STATE,2442,begin surface coast
$FINISH,3.6,1.018823
$STATE,2607,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2607,begin surface
$SM_CCo,2623,197.38,0.630,0,0,1461,480.05
$SM_GC,1.62,0.00,0.00,197.38,0.000,0.000,0.630,139,2084,1461,-8.69,-0.45,480.05
$IRIDIUM_FIX,4751.72,-12221.84,101098,131350
$TT8_MAMPS,0.026845
$HUMID,1918
$INTERNAL_PRESSURE,9.166
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,28.2
$24V_AH,24.6,2.707
$10V_AH,10.8,0.821
$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,20.475,45.450,246.575,197.375,0.000,55.014,53.002,341.430,1.250,0.000,0.000,14.953,795.414,766.590,538.446,806.781,533.915,33.339,1007.181,0.000,792.344,0.000,10.152,0.000
$DEVICE_MAMPS,242.372,92.040,686.465,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.178,280.950,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19025,537
$CAP_FILE_SIZE,59821,0
$CFSIZE,260165632,255741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,135055,4807.007,-12223.236,40,1.2,40,18.3