version: 66.04
glider: 156
mission: 1
dive: 10
start: 8 16 108 2 33 9
data:
$ID,156
$MISSION,1
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$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,550
$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,-7268.4941
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,022559,4806.201,-12222.322,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-68.3
$GPS2,023214,4806.182,-12222.335,16,1.7,33,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,-0.137
$KALMAN_X,-841.1,-210.7,-82.8,1737.9,-17.7
$KALMAN_Y,376.9,-9.1,87.0,-2350.5,-7.1
$MHEAD_RNG_PITCHd_Wd,109.2,534,-20.6,-10.000
$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,-0.78,-107.5,0.0,0.0,0,126,0.00,0.00,-105.65,0.000,6,0.000,0.000,39,2121,3954
$GC,128,-0.78,-107.5,3.1,-6.8,19,141,7.07,2.22,0.00,0.000,4,0.261,0.042,1792,716,3955
$GC,378,-0.48,-107.5,19.9,-7.6,78,385,0.35,2.22,0.00,0.000,6,0.174,0.038,1882,2136,3957
$GC,450,-0.48,-107.5,24.1,-5.5,94,456,0.00,2.25,0.00,0.000,4,0.000,0.044,1882,712,3957
$GC,588,-0.50,-107.5,32.7,-6.2,126,594,0.00,2.22,0.00,0.000,6,0.000,0.038,1872,2137,3957
$GC,658,-0.50,-107.5,37.1,-5.9,142,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2137,3957
$GC,729,-0.52,-107.5,41.3,-6.3,158,735,0.00,2.20,0.00,0.000,4,0.000,0.050,1861,3538,3957
$GC,783,-0.52,-107.5,44.9,-7.2,169,789,0.00,2.15,0.00,0.000,6,0.000,0.033,1861,2124,3957
$GC,925,-0.52,-107.5,54.5,-6.9,200,931,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2124,3957
$GC,1068,-0.52,-107.5,64.4,-7.2,231,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2124,3958
$GC,1211,-0.52,-107.5,74.1,-7.2,262,1217,0.00,2.22,0.00,0.000,4,0.000,0.051,1850,3539,3958
$GC,1255,-0.50,-107.5,77.5,-8.0,271,1261,0.00,2.15,0.00,0.000,6,0.000,0.033,1851,2130,3957
$GC,1398,-0.50,-107.5,88.6,-7.6,302,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2130,3958
$GC,1541,-0.50,-107.5,99.3,-7.4,333,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2130,3957
$STATE,1654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1654,begin apogee
$GC,1658,-0.16,0.0,107.4,7.2,358,1744,0.40,0.00,79.95,0.650,6,0.140,0.000,1982,2127,3516
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1746,0.78,107.5,109.2,0.0,373,1838,0.88,2.40,80.00,0.623,4,0.097,0.045,2296,723,3077
$GC,1849,0.64,107.5,99.2,14.2,391,1855,0.20,2.33,0.00,0.000,6,0.168,0.039,2243,2138,3076
$GC,1992,0.64,107.5,80.6,12.5,422,1998,0.00,2.28,0.00,0.000,4,0.000,0.051,2243,3546,3075
$GC,2022,0.59,107.5,76.7,13.3,428,2028,0.00,2.20,0.00,0.000,6,0.000,0.035,2253,2136,3075
$GC,2166,0.56,107.5,58.1,13.2,459,2171,0.12,0.00,0.00,0.000,6,0.172,0.000,2221,2137,3074
$GC,2308,0.64,114.0,43.1,9.6,490,2321,0.00,2.28,5.88,0.509,4,0.000,0.051,2221,3545,3051
$GC,2345,0.68,114.0,39.1,11.0,497,2351,0.00,2.20,0.00,0.000,6,0.000,0.035,2232,2124,3050
$GC,2416,0.74,114.0,31.5,10.6,513,2422,0.15,0.00,0.00,0.000,6,0.065,0.000,2297,2124,3050
$GC,2487,0.61,114.0,21.8,14.6,529,2493,0.20,0.00,0.00,0.000,6,0.167,0.000,2237,2124,3050
$GC,2557,0.67,114.0,13.7,10.4,545,2563,0.00,2.25,0.00,0.000,4,0.000,0.051,2236,3540,3049
$GC,2594,0.67,114.0,9.7,11.2,553,2600,0.00,2.17,0.00,0.000,6,0.000,0.035,2246,2124,3049
$STATE,2650,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,1.8,1.019730
$STATE,2696,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2711,323.35,0.564,0,0,1272,550.21
$SM_GC,0.07,0.00,0.00,323.35,0.000,0.000,0.564,31,2121,1272,-6.28,-0.28,550.21
$IRIDIUM_FIX,4742.09,-11147.49,101197,010120
$TT8_MAMPS,0.028379
$HUMID,2051
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,43.8
$24V_AH,24.7,1.496
$10V_AH,10.7,1.064
$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,15.400,35.750,165.825,323.350,0.000,30.854,27.657,197.467,2.250,0.000,0.000,33.421,879.557,518.593,598.623,1060.415,367.603,33.329,1101.518,0.000,1040.407,0.000,10.194,0.000
$DEVICE_MAMPS,260.780,50.622,649.649,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.044,295.765,699.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28479,577
$CAP_FILE_SIZE,59040,0
$CFSIZE,260165632,258510848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,032447,4805.966,-12222.044,9,5.1,28,18.3