version: 66.04
glider: 162
mission: 1
dive: 2
start: 12 3 108 19 17 59
data:
$ID,162
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$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,5
$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,200
$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,680
$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,-2924.9077
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,223
$ROLL_MAX,3803
$ROLL_DEG,40
$C_ROLL_DIVE,2302
$C_ROLL_CLIMB,2302
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,498
$VBD_MAX,3961
$C_VBD,3720
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-17.364471
$PRESSURE_SLOPE,0.0001156064
$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,12
$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
$DEVICE2,35
$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,0.0043495079
$SEABIRD_T_H,0.00062862021
$SEABIRD_T_I,2.5575922e-05
$SEABIRD_T_J,2.9323719e-06
$SEABIRD_C_G,-9.95471
$SEABIRD_C_H,1.1163813
$SEABIRD_C_I,-0.00058590219
$SEABIRD_C_J,0.00013969469
$GPS1,191337,4808.050,-12223.582,15,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.2
$GPS2,191709,4808.061,-12223.591,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.258,-0.099
$KALMAN_X,11.8,11.8,11.8,-251.7,27.7
$KALMAN_Y,41.3,41.3,41.3,74.5,96.8
$MHEAD_RNG_PITCHd_Wd,230.7,518,-16.2,-10.000
$D_GRID,103
$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,-0.94,-168.9,0.0,0.0,0,145,0.00,0.00,-127.90,0.000,2,0.000,0.000,166,2304,3634
$GC,147,-0.97,-195.5,3.4,-6.5,22,173,9.55,2.22,-9.10,0.000,4,0.262,0.069,2500,889,3962
$GC,297,-0.97,-195.5,9.7,-3.8,48,304,0.00,2.25,0.00,0.000,6,0.000,0.058,2495,2312,3964
$GC,371,-0.97,-195.5,13.4,-5.7,61,378,0.00,2.22,0.00,0.000,4,0.000,0.054,2495,889,3964
$GC,417,-0.97,-195.5,16.3,-6.3,69,424,0.00,2.22,0.00,0.000,6,0.000,0.059,2493,2303,3964
$GC,493,-0.97,-195.5,21.0,-6.7,82,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2303,3964
$GC,567,-0.97,-195.5,26.1,-7.5,95,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2303,3964
$GC,642,-0.97,-195.5,31.6,-7.8,108,648,0.00,2.28,0.00,0.000,4,0.000,0.077,2490,3714,3964
$GC,695,-0.97,-195.5,35.5,-7.6,117,701,0.00,2.20,0.00,0.000,6,0.000,0.051,2490,2288,3963
$GC,770,-0.97,-195.5,41.0,-6.3,130,776,0.00,2.30,0.00,0.000,4,0.000,0.074,2481,3714,3964
$GC,810,-0.97,-195.5,44.2,-7.8,137,816,0.00,2.20,0.00,0.000,6,0.000,0.051,2481,2290,3964
$GC,951,-0.97,-195.5,55.0,-7.4,162,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2290,3964
$GC,1092,-0.97,-195.5,65.4,-7.9,187,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2290,3964
$GC,1232,-0.97,-195.5,75.7,-7.6,212,1238,0.00,2.30,0.00,0.000,4,0.000,0.075,2481,3720,3963
$GC,1277,-0.97,-195.5,79.3,-8.5,220,1284,0.00,2.20,0.00,0.000,6,0.000,0.051,2480,2288,3963
$GC,1424,-0.97,-195.5,90.2,-7.1,245,1430,0.00,2.30,0.00,0.000,4,0.000,0.073,2473,3720,3963
$GC,1492,-0.97,-195.5,95.7,-7.8,257,1498,0.12,2.20,0.00,0.000,6,0.160,0.049,2506,2290,3964
$STATE,1604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1604,begin apogee
$GC,1608,-0.23,0.0,103.1,6.2,277,1658,0.70,0.00,45.05,0.760,6,0.135,0.000,2737,2290,3720
$STATE,1659,end apogee,CONTROL_FINISHED_OK
$STATE,1659,begin climb
$GC,1661,0.97,195.5,103.7,0.0,286,1817,1.08,0.00,148.60,0.716,6,0.076,0.000,3126,2290,2922
$GC,1951,0.97,195.5,68.4,15.7,338,1958,0.00,2.35,0.00,0.000,4,0.000,0.067,3126,3721,2921
$GC,2019,0.97,195.5,56.4,18.8,350,2025,0.00,2.22,0.00,0.000,6,0.000,0.046,3137,2304,2921
$GC,2162,0.97,195.5,33.0,16.7,375,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2304,2921
$GC,2236,0.97,195.5,21.6,15.4,388,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2304,2921
$GC,2311,0.97,195.5,10.6,14.3,401,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2304,2921
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2360,begin surface coast
$FINISH,2.7,1.018669
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2409,277.02,0.603,15,0,946,680.22
$SM_GC,0.92,0.00,0.00,277.02,0.000,0.000,0.603,165,2303,946,-8.30,0.03,680.22
$IRIDIUM_FIX,4751.72,-12340.51,270298,191953
$TT8_MAMPS,0.026845
$HUMID,1574
$INTERNAL_PRESSURE,6.88503
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,30.3
$24V_AH,24.3,0.355
$10V_AH,10.7,0.139
$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,19.750,31.475,193.650,277.025,0.000,0.000,0.000,0.000,1.500,0.000,0.000,13.891,626.203,732.815,662.488,767.748,44.122,30.178,1075.097,0.000,760.285,0.000,14.925,0.000
$DEVICE_MAMPS,262.314,77.467,760.097,602.862,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.207,511.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19095,416
$CAP_FILE_SIZE,58583,0
$CFSIZE,260165632,258748416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
$GPS,031208,200450,4807.968,-12223.943,11,1.7,16,18.3