version: 66.04
glider: 171
mission: 1
dive: 8
start: 7 16 109 0 33 32
data:
$ID,171
$MISSION,1
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-606.02246
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2883
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2199
$C_ROLL_CLIMB,2199
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3497
$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,-75.123062
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043688784
$SEABIRD_T_H,0.00062944769
$SEABIRD_T_I,2.4717139e-05
$SEABIRD_T_J,2.7241397e-06
$SEABIRD_C_G,-10.19732
$SEABIRD_C_H,1.1460223
$SEABIRD_C_I,-0.00094820879
$SEABIRD_C_J,0.00016859215
$GPS1,002708,4806.747,-12222.675,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-74.5
$GPS2,003238,4806.750,-12222.679,18,1.6,18,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,167.2,29.3,42.8,-48.3,-9.2
$KALMAN_Y,677.4,308.0,23.8,-2482.9,101.5
$MHEAD_RNG_PITCHd_Wd,135.7,1622,-19.7,-10.000
$D_GRID,105
$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,-0.69,-117.3,0.0,0.0,0,106,0.00,0.00,-89.05,0.000,2,0.000,0.000,143,2210,3710
$GC,108,-0.69,-117.3,3.1,-7.2,17,131,10.25,2.42,-6.45,0.000,4,0.245,0.093,2653,778,3961
$GC,395,-0.69,-117.3,32.8,-10.2,78,401,0.00,2.40,0.00,0.000,6,0.000,0.085,2643,2195,3962
$GC,470,-0.69,-117.3,41.1,-11.4,94,476,0.00,2.38,0.00,0.000,4,0.000,0.084,2643,785,3962
$GC,647,-0.69,-117.3,61.5,-10.9,132,653,0.00,2.38,0.00,0.000,6,0.000,0.084,2632,2200,3963
$GC,792,-0.69,-117.3,78.6,-11.5,163,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3962
$GC,936,-0.69,-117.3,94.9,-11.8,194,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2200,3963
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1031,-0.14,0.0,105.5,11.2,214,1117,0.60,0.00,82.00,0.697,6,0.133,0.000,2829,2200,3497
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1119,0.69,117.3,107.4,0.0,230,1210,0.80,0.00,87.20,0.671,6,0.087,0.000,3104,2200,3018
$GC,1348,0.69,117.3,79.0,15.8,277,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2200,3016
$GC,1492,0.69,117.3,57.6,14.0,308,1498,0.00,2.38,0.00,0.000,4,0.000,0.076,3116,782,3016
$GC,1544,0.69,117.3,50.3,13.8,319,1550,0.00,2.35,0.00,0.000,6,0.000,0.071,3116,2204,3016
$GC,1689,0.69,117.3,29.5,14.0,350,1695,0.00,2.35,0.00,0.000,4,0.000,0.080,3116,3612,3016
$GC,1728,0.69,117.3,23.6,15.8,358,1734,0.00,2.33,0.00,0.000,6,0.000,0.067,3127,2199,3015
$GC,1803,0.69,117.3,13.1,13.7,374,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2199,3015
$STATE,1877,end climb,SURFACE_DEPTH_REACHED
$STATE,1877,begin surface coast
$FINISH,1.6,1.019465
$STATE,1915,end surface coast,CONTROL_FINISHED_OK
$STATE,1915,begin surface
$SM_CCo,1929,271.00,0.623,1,0,1540,480.05
$SM_GC,0.50,0.00,0.00,271.00,0.000,0.000,0.623,147,2197,1540,-8.55,-0.06,480.05
$IRIDIUM_FIX,4748.51,-12221.84,091098,232330
$TT8_MAMPS,0.027612
$HUMID,1920
$INTERNAL_PRESSURE,9.2421
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.5,0.904
$10V_AH,10.8,0.244
$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,20.025,18.975,169.200,271.000,0.000,24.607,25.523,211.813,0.000,0.000,0.000,18.159,587.276,547.997,524.561,600.998,294.278,33.318,867.472,0.000,591.458,0.000,0.534,0.000
$DEVICE_MAMPS,245.440,92.807,697.203,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.209,197.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12707,398
$CAP_FILE_SIZE,40002,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160709,011101,4806.650,-12222.551,12,1.4,12,18.3