version: 66.04
glider: 171
mission: 1
dive: 17
start: 7 16 109 7 30 14
data:
$ID,171
$MISSION,1
$DIVE,17
$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,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,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,-738.36676
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2868
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$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,14
$R_STBD_OVSHOOT,17
$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,80
$ALTIM_PING_DELTA,5
$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
$GPS1,072438,4806.507,-12222.354,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-77.8
$GPS2,072920,4806.479,-12222.337,14,1.4,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.145
$KALMAN_X,619.4,10.5,-0.2,-17.7,198.8
$KALMAN_Y,800.6,115.8,-70.4,-2817.5,-184.7
$MHEAD_RNG_PITCHd_Wd,300.6,3488,-15.7,-7.042
$D_GRID,108
$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,-0.58,-97.8,0.0,0.0,0,116,0.00,0.00,-98.90,0.000,6,0.000,0.000,150,2199,3896
$GC,118,-0.58,-97.8,2.7,-3.9,19,130,10.32,0.00,0.00,0.000,6,0.245,0.000,2676,2199,3897
$GC,200,-0.58,-97.8,13.3,-9.1,36,206,0.00,2.42,0.00,0.000,4,0.000,0.090,2677,786,3898
$GC,224,-0.58,-97.8,15.5,-8.9,41,231,0.00,2.45,0.00,0.000,6,0.000,0.090,2666,2204,3898
$GC,300,-0.58,-97.8,21.8,-8.6,57,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2204,3898
$GC,375,-0.58,-97.8,28.6,-8.9,73,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2205,3898
$GC,449,-0.58,-97.8,35.3,-9.1,89,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2204,3897
$GC,524,-0.58,-97.8,42.3,-9.5,105,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2205,3898
$GC,668,-0.58,-97.8,55.6,-9.5,136,674,0.00,2.45,0.00,0.000,4,0.000,0.101,2655,3612,3898
$GC,692,-0.58,-97.8,58.1,-9.7,141,699,0.00,2.38,0.00,0.000,6,0.000,0.084,2655,2196,3898
$GC,838,-0.58,-97.8,72.5,-10.1,172,844,0.00,2.38,0.00,0.000,4,0.000,0.089,2655,788,3898
$GC,908,-0.58,-97.8,80.0,-10.6,187,921,0.12,2.40,0.00,0.000,6,0.160,0.090,2677,2200,3898
$GC,1059,-0.58,-97.8,92.7,-8.5,218,1065,0.00,2.40,0.00,0.000,4,0.000,0.089,2677,780,3898
$GC,1093,-0.58,-97.8,95.8,-9.1,225,1099,0.00,2.42,0.00,0.000,6,0.000,0.091,2667,2207,3898
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1241,-0.15,0.0,108.4,8.8,256,1317,0.45,0.00,71.30,0.715,6,0.124,0.000,2817,2206,3496
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1319,0.58,97.8,110.1,0.0,270,1401,0.68,2.50,73.07,0.690,4,0.091,0.075,3060,779,3098
$GC,1420,0.58,97.8,103.0,9.3,289,1426,0.00,2.47,0.00,0.000,6,0.000,0.073,3060,2210,3097
$GC,1564,0.58,97.8,86.4,11.4,320,1570,0.00,2.42,0.00,0.000,4,0.000,0.076,3071,777,3096
$GC,1575,0.58,97.8,85.0,11.4,322,1581,0.00,2.40,0.00,0.000,6,0.000,0.073,3071,2201,3096
$GC,1720,0.58,97.8,68.5,11.0,353,1727,0.00,2.40,0.00,0.000,4,0.000,0.077,3082,775,3096
$GC,1746,0.58,97.8,65.7,11.0,358,1752,0.00,2.40,0.00,0.000,6,0.000,0.074,3082,2208,3096
$GC,1891,0.58,97.8,49.1,11.5,389,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2208,3096
$GC,2035,0.58,97.8,33.2,10.6,420,2041,0.00,2.38,0.00,0.000,4,0.000,0.076,3094,776,3095
$GC,2059,0.58,97.8,30.6,10.7,425,2066,0.15,2.38,0.00,0.000,6,0.162,0.074,3053,2206,3095
$GC,2135,0.58,97.8,23.4,9.2,441,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2207,3095
$GC,2210,0.58,97.8,17.0,8.6,457,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2207,3094
$GC,2284,0.58,97.8,11.0,7.8,473,2290,0.00,2.35,0.00,0.000,4,0.000,0.077,3064,786,3094
$GC,2327,0.58,97.8,7.7,7.6,482,2333,0.00,2.35,0.00,0.000,6,0.000,0.076,3064,2204,3094
$STATE,2388,end climb,SURFACE_DEPTH_REACHED
$STATE,2388,begin surface coast
$FINISH,1.7,1.021624
$STATE,2468,end surface coast,CONTROL_FINISHED_OK
$STATE,2469,begin surface
$SM_CCo,2482,287.55,0.637,1,0,1540,480.05
$SM_GC,0.37,0.00,0.00,287.55,0.000,0.000,0.637,144,2204,1540,-8.51,0.14,480.05
$IRIDIUM_FIX,4748.51,-12219.12,101098,060620
$TT8_MAMPS,0.027612
$HUMID,1875
$INTERNAL_PRESSURE,9.22257
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,45.5
$24V_AH,24.5,1.778
$10V_AH,10.8,0.489
$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,19.900,43.350,144.375,287.550,0.000,23.217,25.875,159.949,0.500,0.000,0.000,15.145,780.638,698.678,570.982,767.295,257.342,33.329,1013.973,0.000,757.249,0.000,5.550,0.000
$DEVICE_MAMPS,244.673,101.244,714.844,637.377,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.818,259.839,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15895,512
$CAP_FILE_SIZE,53234,0
$CFSIZE,260165632,257908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160709,081736,4806.626,-12222.487,35,1.0,35,18.3