version: 66.04
glider: 170
mission: 1
dive: 24
start: 7 16 109 14 56 44
data:
$ID,170
$MISSION,1
$DIVE,24
$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,100
$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,470
$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,-9760.5986
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2916
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$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,8
$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
$GPS1,145032,4807.063,-12223.279,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.9
$GPS2,145550,4807.026,-12223.239,15,1.8,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.069,0.180
$KALMAN_X,-1549.4,224.6,9.9,1431.2,74.4
$KALMAN_Y,-3887.7,-324.9,-34.4,3894.2,-282.2
$MHEAD_RNG_PITCHd_Wd,320.9,2034,-15.7,-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,-0.57,-97.8,0.0,0.0,0,117,0.00,0.00,-99.70,0.000,2,0.000,0.000,130,2097,3097
$GC,119,-0.57,-97.8,3.1,-2.8,19,154,10.38,2.42,-17.92,0.000,4,0.244,0.098,2728,3507,3816
$GC,409,-0.57,-97.8,25.3,-8.0,80,415,0.00,2.28,0.00,0.000,6,0.000,0.056,2729,2088,3817
$GC,485,-0.57,-97.8,31.8,-8.4,96,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2087,3817
$GC,560,-0.57,-97.8,38.1,-8.8,112,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2088,3817
$GC,635,-0.57,-97.8,44.9,-8.9,128,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2088,3817
$GC,779,-0.57,-97.8,57.6,-9.2,159,785,0.00,2.40,0.00,0.000,4,0.000,0.087,2729,3504,3817
$GC,836,-0.57,-97.8,63.0,-9.4,171,843,0.00,2.25,0.00,0.000,6,0.000,0.055,2729,2092,3817
$GC,982,-0.57,-97.8,76.0,-8.7,202,988,0.00,2.40,0.00,0.000,4,0.000,0.087,2729,3510,3817
$GC,1039,-0.57,-97.8,81.1,-8.7,214,1045,0.00,2.25,0.00,0.000,6,0.000,0.054,2729,2088,3817
$GC,1183,-0.57,-97.8,93.4,-8.5,245,1189,0.00,2.38,0.00,0.000,4,0.000,0.085,2729,3498,3817
$GC,1232,-0.57,-97.8,97.4,-8.6,255,1238,0.00,2.22,0.00,0.000,6,0.000,0.054,2729,2089,3817
$STATE,1278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1283,-0.23,0.0,101.2,8.0,265,1359,0.32,0.00,71.03,0.684,6,0.147,0.000,2833,2198,3418
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1361,0.57,97.8,103.6,0.0,279,1437,0.77,0.00,72.15,0.670,6,0.117,0.000,3090,2198,3018
$GC,1576,0.57,97.8,84.6,10.5,323,1582,0.00,2.28,0.00,0.000,4,0.000,0.051,3091,783,3018
$GC,1619,0.57,97.8,80.5,9.5,332,1625,0.00,2.28,0.00,0.000,6,0.000,0.048,3091,2206,3018
$GC,1765,0.57,97.8,68.5,9.5,363,1771,0.00,2.28,0.00,0.000,4,0.000,0.060,3091,3619,3017
$GC,1804,0.57,97.8,65.3,7.9,371,1810,0.00,2.25,0.00,0.000,6,0.000,0.043,3100,2185,3017
$GC,1950,0.57,97.8,51.2,9.8,402,1956,0.00,2.17,0.00,0.000,4,0.000,0.051,3108,795,3017
$GC,2026,0.57,97.8,44.0,9.3,418,2032,0.00,2.22,0.00,0.000,6,0.000,0.048,3108,2211,3017
$GC,2172,0.57,97.8,29.9,9.4,449,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2212,3016
$GC,2247,0.57,97.8,22.5,9.6,465,2253,0.00,2.22,0.00,0.000,4,0.000,0.050,3116,792,3016
$GC,2305,0.57,97.8,17.0,9.6,477,2311,0.00,2.20,0.00,0.000,6,0.000,0.047,3117,2202,3016
$GC,2381,0.57,97.8,9.9,9.0,493,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2202,3015
$GC,2456,0.62,140.5,5.4,5.0,509,2495,0.00,2.33,30.88,0.637,4,0.000,0.060,3117,3617,2844
$STATE,2508,end climb,SURFACE_DEPTH_REACHED
$STATE,2508,begin surface coast
$FINISH,3.9,1.020248
$STATE,2669,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2669,begin surface
$SM_CCo,2672,447.50,0.624,0,0,459,725.60
$SM_GC,1.38,8.20,0.00,0.00,0.052,0.000,0.000,136,2103,455,-8.63,0.08,726.82
$IRIDIUM_FIX,4751.72,-12226.29,101098,141456
$TT8_MAMPS,0.026078
$HUMID,1914
$INTERNAL_PRESSURE,9.07811
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,24.7,2.957
$10V_AH,10.8,0.889
$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,19.675,41.600,174.050,447.500,0.000,22.873,27.296,177.558,1.500,0.000,0.000,15.288,832.313,842.574,749.585,829.279,308.821,33.338,1216.766,0.000,817.693,0.000,8.747,0.000
$DEVICE_MAMPS,243.906,98.176,684.164,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.571,287.688,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19058,554
$CAP_FILE_SIZE,55228,0
$CFSIZE,260165632,255680512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,155136,4807.167,-12223.357,15,1.3,31,18.3