version: 66.04
glider: 164
mission: 2
dive: 27
start: 3 4 109 16 17 46
data:
$ID,164
$MISSION,2
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,67
$T_MISSION,75
$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,120
$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,400
$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,-32637.516
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2762
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,204
$ROLL_MAX,3882
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3962
$C_VBD,3288
$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,40
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.9007363
$PRESSURE_SLOPE,0.0001158597
$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,0
$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,0.94
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,0.0043488215
$SEABIRD_T_H,0.00063635618
$SEABIRD_T_I,2.5028745e-05
$SEABIRD_T_J,2.7326657e-06
$SEABIRD_C_G,-10.160287
$SEABIRD_C_H,1.1436546
$SEABIRD_C_I,-0.00018147723
$SEABIRD_C_J,0.00010835609
$GPS1,161224,4806.953,-12223.050,22,1.4,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.0
$GPS2,161708,4806.924,-12223.021,9,1.7,9,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.179
$KALMAN_X,-2436.2,718.8,-69.8,2083.7,68.3
$KALMAN_Y,6156.5,-1552.0,-148.2,-6394.6,-82.3
$MHEAD_RNG_PITCHd_Wd,308.9,2332,-14.9,-7.463
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.70,-117.3,0.0,0.0,0,97,0.00,0.00,-83.22,0.000,2,0.000,0.000,121,1858,3523
$GC,99,-0.70,-117.3,3.3,-3.3,14,118,9.90,0.00,-6.35,0.000,6,0.253,0.000,2534,1857,3769
$GC,181,-0.70,-117.3,11.1,-6.1,29,187,0.00,2.35,0.00,0.000,4,0.000,0.072,2534,439,3770
$GC,255,-0.70,-117.3,17.1,-8.3,43,262,0.00,2.30,0.00,0.000,6,0.000,0.061,2532,1850,3771
$GC,325,-0.70,-117.3,22.7,-8.1,56,331,0.00,2.30,0.00,0.000,4,0.000,0.071,2531,3262,3771
$GC,426,-0.70,-117.3,31.4,-8.5,75,433,0.00,2.28,0.00,0.000,6,0.000,0.065,2532,1856,3771
$GC,496,-0.70,-117.3,37.7,-9.0,88,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1856,3771
$GC,559,-0.70,-117.3,43.4,-8.9,100,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1856,3771
$GC,688,-0.70,-117.3,54.2,-8.4,124,695,0.00,2.33,0.00,0.000,4,0.000,0.074,2532,433,3771
$GC,779,-0.70,-117.3,62.7,-9.8,141,785,0.00,2.28,0.00,0.000,6,0.000,0.061,2532,1849,3770
$GC,912,-0.70,-117.3,73.9,-8.1,166,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1849,3771
$GC,1040,-0.70,-117.3,84.4,-8.3,190,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1849,3770
$GC,1168,-0.70,-117.3,94.7,-8.0,214,1175,0.00,2.25,0.00,0.000,4,0.000,0.070,2532,3259,3771
$GC,1227,-0.70,-117.3,99.6,-8.3,225,1233,0.00,2.25,0.00,0.000,6,0.000,0.061,2531,1847,3771
$STATE,1273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1277,-0.19,0.0,103.2,7.6,234,1372,0.52,0.00,90.43,0.846,6,0.143,0.000,2697,1785,3288
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1374,0.70,117.3,104.9,0.0,251,1470,0.85,0.00,91.75,0.810,6,0.100,0.000,2979,1785,2809
$GC,1596,0.70,117.3,80.6,13.6,292,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1785,2808
$GC,1725,0.70,117.3,64.6,12.6,316,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1785,2807
$GC,1852,0.70,117.3,48.7,12.3,340,1860,0.00,2.30,0.00,0.000,4,0.000,0.072,2979,392,2807
$GC,1885,0.70,117.3,44.7,12.7,346,1892,0.00,2.25,0.00,0.000,6,0.000,0.054,2979,1798,2807
$GC,2019,0.70,117.3,28.5,12.0,371,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1799,2807
$GC,2083,0.70,117.3,20.9,12.0,383,2089,0.00,2.25,0.00,0.000,4,0.000,0.061,2979,3209,2806
$GC,2109,0.70,117.3,17.6,11.8,388,2117,0.00,2.25,0.00,0.000,6,0.000,0.060,2979,1807,2806
$GC,2179,0.70,117.3,9.5,11.5,401,2186,0.00,2.33,0.00,0.000,4,0.000,0.074,2982,388,2806
$GC,2233,0.70,117.3,3.5,10.5,411,2240,0.00,2.25,0.00,0.000,6,0.000,0.055,2982,1800,2806
$STATE,2242,end climb,SURFACE_DEPTH_REACHED
$STATE,2242,begin surface coast
$FINISH,1.9,1.020495
$STATE,2274,end surface coast,CONTROL_FINISHED_OK
$STATE,2275,begin surface
$SM_CCo,2288,221.12,0.752,1,0,1657,400.08
$SM_GC,1.07,0.00,0.00,221.12,0.000,0.000,0.752,122,1854,1657,-8.25,0.11,400.08
$IRIDIUM_FIX,4751.72,-12223.57,290598,151524
$TT8_MAMPS,0.050622
$HUMID,1386
$INTERNAL_PRESSURE,9.07508
$TCM_TEMP,19.70
$XPDR_PINGS,5
$24V_AH,24.0,3.341
$10V_AH,10.6,1.230
$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,19.275,32.100,182.175,221.125,0.000,28.832,25.328,158.833,1.250,0.000,0.000,10.940,0.000,1112.446,498.162,896.332,290.045,33.303,869.494,0.000,747.000,0.000,0.836,0.000
$DEVICE_MAMPS,253.110,108.914,846.001,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.088,294.590,495.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22270,419
$CAP_FILE_SIZE,46624,0
$CFSIZE,260165632,258048000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,170028,4807.073,-12223.225,8,2.1,27,18.3