version: 66.04
glider: 170
mission: 1
dive: 2
start: 7 15 109 20 30 22
data:
$ID,170
$MISSION,1
$DIVE,2
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,-9350.1094
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2989
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$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,-62.362949
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,202026,4807.435,-12223.479,7,1.7,7,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.3
$GPS2,202931,4807.458,-12223.509,11,1.5,16,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.177,0.155
$KALMAN_X,-66.9,-66.9,-66.9,-8.9,-110.4
$KALMAN_Y,59.0,59.0,59.0,262.3,97.4
$MHEAD_RNG_PITCHd_Wd,30.5,1185,-19.7,-10.000
$D_GRID,105
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.71,-117.3,0.0,0.0,0,126,0.00,0.00,-109.12,0.000,2,0.000,0.000,134,2087,3383
$GC,128,-0.71,-117.3,3.5,-5.8,21,157,10.07,2.20,-12.40,0.000,4,0.239,0.071,2752,682,3897
$GC,388,-0.71,-117.3,19.7,-6.4,76,394,0.00,2.30,0.00,0.000,6,0.000,0.074,2752,2103,3897
$GC,464,-0.71,-117.3,24.6,-6.6,92,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2102,3897
$GC,539,-0.71,-117.3,29.7,-7.2,108,545,0.00,2.35,0.00,0.000,4,0.000,0.088,2752,3513,3897
$GC,569,-0.71,-117.3,32.0,-7.5,114,575,0.00,2.22,0.00,0.000,6,0.000,0.053,2752,2086,3897
$GC,646,-0.71,-117.3,37.7,-7.4,130,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2086,3897
$GC,721,-0.71,-117.3,43.4,-7.5,146,727,0.00,2.38,0.00,0.000,4,0.000,0.084,2752,3517,3897
$GC,747,-0.71,-117.3,45.2,-7.3,151,753,0.00,2.20,0.00,0.000,6,0.000,0.052,2752,2102,3897
$GC,893,-0.71,-117.3,55.6,-6.9,182,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2102,3896
$GC,1038,-0.71,-117.3,65.6,-6.7,213,1044,0.00,2.35,0.00,0.000,4,0.000,0.084,2752,3518,3896
$GC,1109,-0.71,-117.3,70.9,-7.3,228,1115,0.00,2.22,0.00,0.000,6,0.000,0.053,2752,2089,3896
$GC,1255,-0.71,-117.3,81.4,-7.2,259,1261,0.00,2.35,0.00,0.000,4,0.000,0.084,2752,3514,3895
$GC,1317,-0.71,-117.3,85.9,-6.8,272,1323,0.00,2.20,0.00,0.000,6,0.000,0.053,2752,2101,3895
$GC,1463,-0.71,-117.3,95.5,-6.9,303,1469,0.00,2.35,0.00,0.000,4,0.000,0.084,2752,3519,3894
$GC,1498,-0.71,-117.3,97.9,-7.0,310,1504,0.00,2.22,0.00,0.000,6,0.000,0.054,2752,2092,3894
$STATE,1605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1605,begin apogee
$GC,1609,-0.14,0.0,105.1,6.4,333,1699,0.55,0.00,82.75,0.688,6,0.134,0.000,2938,2090,3417
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1700,begin climb
$GC,1702,0.71,117.3,106.0,0.0,350,1794,0.73,2.38,85.38,0.674,4,0.056,0.058,3230,691,2939
$GC,1929,0.71,117.3,73.0,18.2,396,1935,0.00,2.28,0.00,0.000,6,0.000,0.054,3230,2121,2937
$GC,2075,0.71,117.3,44.5,19.4,427,2081,0.00,2.28,0.00,0.000,4,0.000,0.058,3241,696,2937
$GC,2119,0.71,117.3,35.8,19.6,436,2125,0.00,2.20,0.00,0.000,6,0.000,0.052,3241,2100,2937
$GC,2195,0.71,117.3,21.1,18.8,452,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2100,2936
$GC,2270,0.71,117.3,7.7,16.7,468,2276,0.00,2.22,0.00,0.000,4,0.000,0.056,3252,688,2936
$GC,2281,0.71,117.3,6.1,15.8,470,2288,0.12,2.20,0.00,0.000,6,0.183,0.052,3221,2100,2936
$GC,2358,0.96,321.9,3.9,-1.7,486,2429,0.20,0.00,67.78,0.630,2,0.069,0.000,3309,2101,2548
$STATE,2430,end climb,SURFACE_DEPTH_REACHED
$STATE,2430,begin surface coast
$FINISH,2.5,1.018283
$STATE,2577,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2577,begin surface
$SM_CCo,2593,211.68,0.623,0,0,1378,500.17
$SM_GC,1.45,0.00,0.00,211.68,0.000,0.000,0.623,134,2105,1378,-8.92,0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,091098,202034
$TT8_MAMPS,0.026078
$HUMID,1934
$INTERNAL_PRESSURE,9.21483
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.8,0.678
$10V_AH,10.9,0.244
$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,20.875,40.900,235.900,211.675,0.000,0.000,0.000,0.000,0.750,0.000,0.000,16.548,770.263,706.361,558.423,796.958,47.309,30.180,1022.219,0.000,784.841,0.000,5.658,0.000
$DEVICE_MAMPS,239.304,88.205,687.999,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.464,273.849,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19002,531
$CAP_FILE_SIZE,71384,0
$CFSIZE,260165632,256331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,150709,211755,4807.566,-12223.240,10,1.2,15,18.3