version: 66.04
glider: 158
mission: 1
dive: 16
start: 8 16 108 9 45 48
data:
$ID,158
$MISSION,1
$DIVE,16
$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,51600
$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,500
$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,-9741.3311
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,225
$ROLL_MAX,3911
$ROLL_DEG,40
$C_ROLL_DIVE,2142
$C_ROLL_CLIMB,2142
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,3499
$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,-19.617783
$PRESSURE_SLOPE,0.0001162534
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$DEVICE4,103
$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,0.0043197535
$SEABIRD_T_H,0.0006381399
$SEABIRD_T_I,2.5446814e-05
$SEABIRD_T_J,2.8593313e-06
$SEABIRD_C_G,-10.195082
$SEABIRD_C_H,1.1596043
$SEABIRD_C_I,-0.0010232648
$SEABIRD_C_J,0.00017862333
$GPS1,093935,4806.734,-12222.718,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-78.5
$GPS2,094509,4806.699,-12222.675,13,1.0,13,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.188
$KALMAN_X,-532.2,47.9,35.9,872.3,58.3
$KALMAN_Y,624.4,-69.3,-84.5,-1183.4,-96.9
$MHEAD_RNG_PITCHd_Wd,308.3,2914,-20.6,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.68,-107.5,0.0,0.0,0,59,0.00,0.00,-45.15,0.000,2,0.000,0.000,52,2133,2478
$GC,60,-0.68,-107.5,3.2,-2.9,7,131,7.72,0.00,-55.88,0.000,6,0.269,0.000,1901,2133,3935
$GC,196,-0.40,-107.5,12.3,-12.2,33,203,0.30,2.28,0.00,0.000,4,0.183,0.051,1982,3564,3936
$GC,242,-0.40,-107.5,17.1,-9.2,43,249,0.00,2.25,0.00,0.000,6,0.000,0.038,1982,2138,3936
$GC,314,-0.38,-107.5,23.2,-8.3,59,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2137,3937
$GC,386,-0.38,-107.5,29.5,-8.7,75,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2137,3937
$GC,457,-0.38,-107.5,36.0,-9.1,91,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2137,3937
$GC,529,-0.38,-107.5,43.1,-9.5,107,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2137,3937
$GC,663,-0.38,-107.5,56.2,-9.6,138,669,0.00,2.25,0.00,0.000,4,0.000,0.051,1972,3547,3937
$GC,696,-0.38,-107.5,59.3,-10.0,145,701,0.12,2.17,0.00,0.000,6,0.144,0.038,2005,2128,3938
$GC,832,-0.48,-107.5,69.7,-7.0,176,838,0.15,0.00,0.00,0.000,6,0.065,0.000,1946,2128,3938
$GC,971,-0.35,-107.5,87.1,-13.3,207,976,0.22,0.00,0.00,0.000,6,0.160,0.000,2007,2128,3938
$GC,1106,-0.48,-107.5,97.6,-6.8,238,1113,0.15,2.28,0.00,0.000,4,0.064,0.050,1936,3557,3937
$GC,1143,-0.40,-107.5,101.5,-11.9,246,1149,0.20,2.20,0.00,0.000,6,0.150,0.038,1992,2142,3937
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1180,-0.13,0.0,105.0,8.8,254,1263,0.25,0.00,78.78,0.725,6,0.134,0.000,2077,2142,3498
$STATE,1263,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1265,0.68,107.5,107.6,0.0,268,1354,0.75,0.00,80.93,0.699,6,0.087,0.000,2339,2142,3059
$GC,1484,0.44,107.5,84.4,13.9,313,1490,0.28,2.28,0.00,0.000,4,0.183,0.046,2261,3552,3058
$GC,1541,0.44,108.0,78.1,10.0,326,1547,0.00,2.25,0.00,0.000,6,0.000,0.040,2263,2146,3058
$GC,1679,0.47,133.8,66.5,8.4,357,1702,0.00,0.00,20.42,0.673,6,0.000,0.000,2263,2147,2952
$GC,1834,0.49,144.1,52.1,9.4,391,1846,0.00,0.00,9.12,0.618,6,0.000,0.000,2263,2146,2910
$GC,1977,0.53,155.4,38.5,9.3,423,1991,0.00,2.33,9.77,0.626,4,0.000,0.049,2263,3560,2865
$GC,2018,0.55,155.4,34.3,10.5,431,2024,0.00,2.25,0.00,0.000,6,0.000,0.041,2273,2147,2864
$GC,2089,0.55,155.4,27.1,10.2,447,2096,0.00,2.25,0.00,0.000,4,0.000,0.051,2284,740,2864
$GC,2100,0.55,155.4,25.9,10.5,449,2107,0.00,2.22,0.00,0.000,6,0.000,0.043,2284,2135,2864
$GC,2172,0.55,155.4,18.2,10.5,465,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2136,2864
$GC,2244,0.56,164.3,11.0,9.4,481,2257,0.00,2.22,8.07,0.604,4,0.000,0.048,2285,3554,2829
$GC,2261,0.57,165.8,9.2,9.9,484,2267,0.00,2.25,0.00,0.000,6,0.000,0.039,2295,2135,2829
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,2.9,1.018219
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2400,194.30,0.652,0,0,1460,500.17
$SM_GC,1.98,0.00,0.00,194.30,0.000,0.000,0.652,44,2133,1460,-6.50,-0.25,500.17
$IRIDIUM_FIX,4748.51,-12221.84,101197,090937
$TT8_MAMPS,0.052156
$HUMID,2042
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,43.4
$24V_AH,24.1,1.959
$10V_AH,10.6,1.126
$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,16.200,31.475,207.100,194.300,0.000,29.524,25.948,204.517,0.500,0.000,0.000,13.331,0.000,803.062,476.085,1300.665,346.244,33.318,953.946,0.000,1124.414,0.000,5.522,0.000
$DEVICE_MAMPS,269.217,50.622,724.815,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,351.110,248.383,812.170,204.171,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28485,513
$CAP_FILE_SIZE,55775,0
$CFSIZE,260165632,257273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,102932,4806.876,-12222.878,8,1.2,13,18.3