version: 66.04
glider: 166
mission: 1
dive: 23
start: 3 5 109 15 1 50
data:
$ID,166
$MISSION,1
$DIVE,23
$D_SURF,5
$D_FLARE,3
$D_TGT,121
$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,110
$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,100
$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,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,-4688.0132
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2646
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3420
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.361515
$PRESSURE_SLOPE,0.0001160501
$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,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,145552,4807.810,-12224.078,16,8.5,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.1
$GPS2,150056,4807.760,-12224.086,16,2.0,16,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.010,0.182
$KALMAN_X,3918.2,-253.5,214.2,-5026.5,103.8
$KALMAN_Y,-1244.2,-654.9,-96.1,1559.7,-331.5
$MHEAD_RNG_PITCHd_Wd,338.4,458,-13.2,-6.020
$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,13,-0.53,-97.8,0.0,0.0,0,138,0.00,0.00,-117.57,0.000,6,0.000,0.000,156,2031,3819
$GC,140,-0.53,-97.8,3.3,-3.7,21,153,10.90,0.00,0.00,0.000,6,0.304,0.000,2464,2029,3820
$GC,222,-0.53,-97.8,19.1,-8.0,35,228,0.00,2.30,0.00,0.000,4,0.000,0.068,2472,3465,3821
$GC,245,-0.53,-97.8,20.8,-7.6,39,251,0.00,2.17,0.00,0.000,6,0.000,0.044,2466,2045,3821
$GC,320,-0.53,-97.8,25.8,-6.8,52,326,0.00,2.17,0.00,0.000,4,0.000,0.055,2467,643,3821
$GC,376,-0.53,-97.8,30.2,-7.9,62,383,0.00,2.20,0.00,0.000,6,0.000,0.054,2475,2054,3821
$GC,451,-0.53,-97.8,35.6,-7.4,75,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2054,3821
$GC,523,-0.53,-97.8,40.9,-7.0,88,530,0.00,2.25,0.00,0.000,4,0.000,0.067,2474,3455,3821
$GC,557,-0.53,-97.8,43.3,-7.0,94,564,0.00,2.17,0.00,0.000,6,0.000,0.045,2468,2050,3821
$GC,699,-0.53,-97.8,52.9,-6.8,119,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2049,3821
$GC,838,-0.53,-97.8,62.1,-6.6,144,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2050,3821
$GC,978,-0.53,-97.8,71.4,-6.6,169,984,0.00,2.17,0.00,0.000,4,0.000,0.056,2467,639,3821
$GC,1023,-0.53,-97.8,74.7,-7.5,177,1029,0.00,2.20,0.00,0.000,6,0.000,0.055,2476,2058,3821
$GC,1163,-0.53,-97.8,83.6,-6.0,202,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2058,3821
$GC,1304,-0.53,-97.8,92.0,-5.9,227,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2058,3821
$GC,1443,-0.53,-97.8,100.2,-6.0,252,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2058,3821
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1496,-0.16,0.0,103.3,5.8,261,1577,0.35,0.00,76.07,0.893,6,0.146,0.000,2583,2252,3420
$STATE,1577,end apogee,CONTROL_FINISHED_OK
$STATE,1577,begin climb
$GC,1579,0.53,97.8,104.9,0.0,275,1663,0.68,0.00,78.20,0.861,6,0.104,0.000,2810,2251,3021
$GC,1797,0.53,97.8,86.6,9.8,314,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2252,3020
$GC,1938,0.53,97.8,73.0,9.5,339,1944,0.00,2.22,0.00,0.000,4,0.000,0.059,2820,839,3020
$GC,1988,0.53,97.8,68.1,9.6,348,1995,0.00,2.25,0.00,0.000,6,0.000,0.055,2819,2237,3019
$GC,2129,0.53,97.8,53.6,10.4,373,2135,0.00,2.28,0.00,0.000,4,0.000,0.067,2819,3660,3019
$GC,2152,0.53,97.8,50.9,11.1,377,2158,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2243,3019
$GC,2293,0.53,97.8,35.2,10.7,402,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2243,3019
$GC,2367,0.53,97.8,27.6,10.2,415,2373,0.00,2.17,0.00,0.000,4,0.000,0.055,2843,834,3019
$GC,2390,0.53,97.8,25.1,10.2,419,2396,0.00,2.22,0.00,0.000,6,0.000,0.056,2841,2260,3019
$GC,2465,0.53,97.8,17.0,10.8,432,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2261,3019
$GC,2537,0.53,97.8,8.5,10.8,445,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2260,3019
$STATE,2581,end climb,SURFACE_DEPTH_REACHED
$STATE,2581,begin surface coast
$FINISH,2.6,1.021201
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2669,322.83,0.784,4,0,1380,500.17
$SM_GC,1.05,0.00,0.00,322.83,0.000,0.000,0.784,155,2032,1380,-7.77,-0.54,500.17
$IRIDIUM_FIX,4748.51,-12217.40,300598,141413
$TT8_MAMPS,0.026845
$HUMID,1376
$INTERNAL_PRESSURE,9.19439
$TCM_TEMP,17.90
$XPDR_PINGS,22
$24V_AH,24.1,3.144
$10V_AH,10.7,1.072
$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,19.650,31.600,154.275,322.825,0.000,26.825,26.053,175.556,5.500,0.000,0.000,17.058,720.623,863.120,628.484,838.386,283.589,33.317,1065.626,0.000,835.339,0.000,0.836,0.000
$DEVICE_MAMPS,303.732,73.632,892.788,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,315.024,319.108,538.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25432,466
$CAP_FILE_SIZE,50415,0
$CFSIZE,260165632,257757184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,050309,155306,4807.938,-12224.169,15,0.9,31,18.3