version: 66.04
glider: 157
mission: 2
dive: 9
start: 8 29 108 1 30 0
data:
$ID,157
$MISSION,2
$DIVE,9
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51679
$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,430
$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,-12647.568
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2422
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2659
$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,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,112
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.55625
$PRESSURE_SLOPE,0.0001140972
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,103
$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,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,012029,4807.671,-12223.844,8,2.1,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.2
$GPS2,012921,4807.762,-12223.906,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,-0.172
$KALMAN_X,-4426.5,-1201.5,225.9,4169.5,-604.9
$KALMAN_Y,3533.1,857.4,-129.0,-3669.8,542.6
$MHEAD_RNG_PITCHd_Wd,113.1,4025,-17.5,-10.000
$D_GRID,150
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.63,-146.6,0.0,0.0,0,90,0.00,0.00,-76.25,0.000,2,0.000,0.000,93,2259,2886
$GC,91,-0.63,-146.6,3.6,-6.7,12,112,6.40,2.35,-8.43,0.000,4,0.257,0.081,1676,3691,3258
$GC,165,-0.63,-146.6,12.2,-7.0,27,171,0.00,2.33,0.00,0.000,6,0.000,0.061,1675,2275,3259
$GC,236,-0.63,-146.6,15.9,-5.4,43,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,2275,3260
$GC,308,-0.63,-146.6,20.3,-6.6,59,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,2275,3260
$GC,380,-0.63,-146.6,25.7,-7.7,75,386,0.00,2.33,0.00,0.000,4,0.000,0.071,1665,3679,3260
$GC,430,-0.63,-146.6,29.9,-8.7,86,436,0.00,2.30,0.00,0.000,6,0.000,0.059,1665,2261,3260
$GC,502,-0.63,-146.6,36.4,-8.8,102,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1665,2261,3261
$GC,573,-0.63,-146.6,42.6,-9.1,118,579,0.00,2.28,0.00,0.000,4,0.000,0.064,1665,847,3261
$GC,600,-0.63,-146.6,45.1,-9.0,124,607,0.10,2.33,0.00,0.000,6,0.180,0.065,1685,2267,3261
$GC,739,-0.63,-146.6,56.1,-8.6,155,744,0.00,2.28,0.00,0.000,4,0.000,0.072,1676,3684,3261
$GC,758,-0.63,-146.6,57.9,-9.1,159,763,0.00,2.25,0.00,0.000,6,0.000,0.059,1676,2268,3261
$GC,893,-0.63,-146.6,69.7,-8.2,190,899,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,2268,3261
$GC,1030,-0.63,-146.6,81.2,-8.6,221,1035,0.00,2.30,0.00,0.000,4,0.000,0.072,1666,3685,3261
$GC,1069,-0.63,-146.6,85.0,-9.8,230,1076,0.00,2.28,0.00,0.000,6,0.000,0.059,1667,2272,3261
$STATE,1130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1130,begin apogee
$GC,1133,-0.13,0.0,90.2,8.7,243,1246,0.57,0.00,109.15,0.716,6,0.163,0.000,1846,2434,2659
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1248,0.63,146.6,90.4,0.0,262,1366,0.70,2.42,111.15,0.665,4,0.084,0.060,2104,1006,2060
$GC,1389,0.63,146.6,63.7,24.1,287,1394,0.00,2.40,0.00,0.000,6,0.000,0.062,2104,2421,2058
$GC,1526,0.63,146.6,30.6,24.5,318,1532,0.00,2.35,0.00,0.000,4,0.000,0.061,2114,1008,2057
$GC,1567,0.63,146.6,20.9,21.8,327,1573,0.00,2.38,0.00,0.000,6,0.000,0.064,2114,2427,2057
$GC,1639,0.63,146.6,4.5,23.6,343,1645,0.00,2.35,0.00,0.000,4,0.000,0.064,2124,1012,2056
$STATE,1649,end climb,SURFACE_DEPTH_REACHED
$STATE,1649,begin surface coast
$FINISH,0.5,1.017809
$STATE,1666,end surface coast,CONTROL_FINISHED_OK
$STATE,1666,begin surface
$SM_CCo,1679,216.80,0.617,0,0,906,430.01
$SM_GC,0.70,0.00,0.00,216.80,0.000,0.000,0.617,94,2275,906,-5.61,0.14,430.01
$IRIDIUM_FIX,4748.51,-12224.57,231197,010137
$TT8_MAMPS,0.048321
$HUMID,1916
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.2,7.3
$24V_AH,24.1,5.065
$10V_AH,10.7,2.204
$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,13.175,37.275,220.300,216.800,0.000,59.699,63.818,250.759,1.250,0.000,0.000,14.165,0.000,549.751,485.372,919.336,472.351,33.318,846.485,0.000,781.862,0.000,9.691,0.000
$DEVICE_MAMPS,256.945,81.302,716.378,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,240.529,181.220,576.209,141.606,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,349
$CAP_FILE_SIZE,44415,0
$CFSIZE,260165632,257753088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,020252,4807.639,-12223.845,37,2.5,56,18.3