version: 66.04
glider: 167
mission: 1
dive: 10
start: 1 29 109 5 0 37
data:
$ID,167
$MISSION,1
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,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,550
$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,-2950.4719
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,174
$PITCH_MAX,3944
$C_PITCH,2733
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3392
$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,-14.577106
$PRESSURE_SLOPE,0.0001158971
$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,5
$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
$DEVICE2,53
$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,0.0042613237
$SEABIRD_T_H,0.000318543
$SEABIRD_T_I,2.2247017e-05
$SEABIRD_T_J,2.3141051e-06
$SEABIRD_C_G,-10.028838
$SEABIRD_C_H,1.1493243
$SEABIRD_C_I,-0.0017152225
$SEABIRD_C_J,0.0002181365
$GPS1,045435,4803.885,-12220.826,12,1.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.0
$GPS2,045942,4803.839,-12220.813,10,1.6,14,18.3
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.081,0.267
$KALMAN_X,2483.8,666.5,-129.9,-500.3,70.5
$KALMAN_Y,-6096.3,-1516.8,-77.5,2057.7,-399.1
$MHEAD_RNG_PITCHd_Wd,324.8,8654,-21.2,-12.500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,99,0.00,0.00,-81.38,0.000,2,0.000,0.000,173,2086,3191
$GC,102,-1.03,-146.6,3.1,-3.0,14,139,9.82,2.33,-19.15,0.000,4,0.281,0.074,2383,3502,3962
$GC,162,-1.03,-146.6,12.5,-17.5,24,169,0.00,2.12,0.00,0.000,6,0.000,0.035,2383,2097,3963
$GC,238,-1.03,-146.6,26.9,-19.4,37,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2095,3964
$GC,312,-1.03,-146.6,40.6,-17.7,50,319,0.00,2.17,0.00,0.000,4,0.000,0.047,2383,703,3963
$GC,376,-1.03,-146.6,52.0,-17.4,61,382,0.00,2.17,0.00,0.000,6,0.000,0.048,2375,2098,3963
$GC,518,-1.03,-146.6,76.6,-16.6,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2099,3963
$GC,660,-1.03,-146.6,99.9,-15.2,111,666,0.00,2.15,0.00,0.000,4,0.000,0.044,2375,696,3962
$GC,706,-1.03,-146.6,107.1,-15.7,119,713,0.12,2.17,0.00,0.000,6,0.200,0.047,2396,2104,3962
$STATE,756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,756,begin apogee
$GC,762,-0.20,0.0,114.9,14.2,128,868,0.90,0.00,100.78,0.706,6,0.178,0.000,2662,2105,3392
$STATE,869,end apogee,CONTROL_FINISHED_OK
$STATE,869,begin climb
$GC,871,1.03,146.6,118.6,0.0,147,984,1.20,0.00,108.47,0.677,6,0.104,0.000,3056,2105,2794
$GC,1119,1.03,146.6,84.0,16.8,191,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2105,2794
$GC,1260,1.03,146.6,60.4,16.5,216,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2105,2793
$GC,1401,1.03,146.6,38.8,14.4,241,1407,0.00,2.22,0.00,0.000,4,0.000,0.058,3056,3515,2793
$GC,1430,1.03,146.6,34.3,15.7,246,1437,0.00,2.15,0.00,0.000,6,0.000,0.036,3057,2101,2792
$GC,1506,1.03,146.6,23.3,14.0,259,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2100,2792
$GC,1580,1.06,172.1,14.2,11.0,272,1605,0.00,2.25,19.27,0.603,4,0.000,0.056,3057,3513,2691
$GC,1612,1.07,177.8,10.3,12.2,277,1625,0.00,2.17,5.90,0.497,6,0.000,0.035,3058,2082,2667
$STATE,1676,end climb,SURFACE_DEPTH_REACHED
$STATE,1676,begin surface coast
$FINISH,2.2,1.047601
$STATE,1739,end surface coast,CONTROL_FINISHED_OK
$STATE,1739,begin surface
$SM_CCo,1756,274.30,0.607,0,0,1149,550.21
$SM_GC,1.38,0.00,0.00,274.30,0.000,0.000,0.607,173,2079,1149,-8.00,-0.59,550.21
$IRIDIUM_FIX,4751.72,-12623.75,250498,040417
$TT8_MAMPS,0.029913
$HUMID,1395
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,43.8
$24V_AH,24.3,1.770
$10V_AH,10.7,0.711
$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,20.375,21.925,234.425,274.300,0.000,30.884,25.695,149.899,0.500,0.000,0.000,14.383,444.793,488.840,566.344,548.080,308.237,33.336,892.384,0.000,545.283,0.000,5.533,0.000
$DEVICE_MAMPS,280.722,73.632,705.640,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.724,208.602,351.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,299
$CAP_FILE_SIZE,36882,0
$CFSIZE,260165632,258199552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290109,053514,4803.929,-12220.931,10,1.4,10,18.3