version: 66.04
glider: 117
mission: 17
dive: 27
start: 3 12 109 16 47 7
data:
$ID,117
$MISSION,17
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1025
$D_NO_BLEED,200
$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,30
$T_MISSION,45
$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,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51426
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,325
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102795.52
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3715
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1595
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3324
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.0527511
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,163656,4807.860,-12223.191,10,1.0,10,18.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.8
$GPS2,164614,4807.880,-12223.213,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.202,0.165
$KALMAN_X,993.2,77.4,-12.5,-1344.6,-78.4
$KALMAN_Y,-1867.8,-129.4,7.3,2153.7,-77.8
$MHEAD_RNG_PITCHd_Wd,32.5,363,-18.2,-10.000
$D_GRID,90
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.58,-146.6,0.0,0.0,0,114,0.00,0.00,-93.22,0.000,6,0.000,0.000,410,1978,3924
$GC,117,-1.58,-146.6,4.0,-7.2,14,138,12.65,2.62,0.00,0.000,4,0.183,0.066,2515,3368,3925
$GC,393,-1.58,-146.6,39.5,-9.9,46,398,0.00,2.53,0.00,0.000,6,0.000,0.048,2515,1966,3925
$GC,591,-1.58,-146.6,59.9,-9.8,64,595,0.00,2.62,0.00,0.000,4,0.000,0.064,2515,3371,3926
$GC,697,-1.58,-146.6,71.2,-10.9,73,701,0.00,2.50,0.00,0.000,6,0.000,0.047,2515,1974,3926
$STATE,883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,883,begin apogee
$GC,889,-0.38,0.0,90.4,10.2,90,1017,1.33,0.00,116.85,0.704,6,0.106,0.000,2774,1598,3323
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1021,1.58,146.6,94.5,0.0,103,1146,2.05,2.62,115.60,0.676,4,0.071,0.058,3209,2999,2725
$GC,1151,1.64,194.5,87.2,7.8,114,1198,0.00,2.60,39.35,0.646,6,0.000,0.051,3209,1592,2531
$GC,1524,1.65,204.9,51.8,9.5,149,1541,0.00,2.78,9.35,0.594,4,0.000,0.081,3209,179,2487
$GC,1594,1.66,209.1,44.8,9.8,155,1607,0.00,2.53,4.97,0.502,6,0.000,0.047,3209,1598,2471
$GC,1797,1.67,220.0,25.3,9.5,174,1813,0.00,2.78,10.27,0.601,4,0.000,0.081,3209,189,2427
$GC,1869,1.67,220.0,18.5,10.0,181,1876,0.00,2.53,0.00,0.000,6,0.000,0.047,3209,1604,2426
$GC,1944,1.69,234.2,11.2,9.4,194,1959,0.10,0.00,12.95,0.609,6,0.058,0.000,3238,1604,2369
$GC,2027,1.75,283.3,3.8,7.8,208,2056,0.00,0.00,25.95,0.620,2,0.000,0.000,3238,1604,2241
$STATE,2056,end climb,SURFACE_DEPTH_REACHED
$STATE,2056,begin surface coast
$FINISH,0.3,1.010507
$STATE,2080,end surface coast,CONTROL_FINISHED_OK
$STATE,2080,begin surface
$SM_CCo,2103,29.73,0.613,0,0,1998,325.02
$SM_GC,1.74,0.00,0.00,29.73,0.000,0.000,0.613,408,1976,1998,-11.30,0.00,325.02
$IRIDIUM_FIX,4748.51,-12308.32,060698,161631
$TT8_MAMPS,0.106613
$HUMID,1594
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,28.725
$10V_AH,10.0,12.883
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.100,27.475,335.300,29.725,0.000,94.982,27.114,241.379,0.000,0.000,108.914,12.914,440.076,898.122,416.426,437.664,518.989,33.326,708.366,0.000,407.726,0.000,5.705,0.000
$DEVICE_MAMPS,182.546,81.302,704.106,612.833,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,156.207,0.000,0.000,0.000,0.000,0.000,34.716,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6459,216
$CAP_FILE_SIZE,62132,0
$CFSIZE,260165632,257249280
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,172331,4807.973,-12222.849,7,1.2,12,18.3