version: 66.04
glider: 170
mission: 1
dive: 3
start: 7 15 109 21 24 36
data:
$ID,170
$MISSION,1
$DIVE,3
$D_SURF,4
$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,-9366.7646
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,211755,4807.566,-12223.240,10,1.2,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-79.3
$GPS2,212343,4807.564,-12223.257,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.118,0.203
$KALMAN_X,-113.0,-82.4,-77.7,367.8,-67.7
$KALMAN_Y,15.4,35.6,35.5,559.0,28.8
$MHEAD_RNG_PITCHd_Wd,11.7,868,-19.7,-10.000
$D_GRID,107
$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,14,-0.74,-117.3,0.0,0.0,0,90,0.00,0.00,-73.47,0.000,2,0.000,0.000,134,2106,3288
$GC,92,-0.74,-117.3,3.4,-5.3,14,126,10.27,2.25,-16.80,0.000,4,0.248,0.071,2705,690,3897
$GC,146,-0.74,-117.3,6.5,-4.7,24,152,0.00,2.33,0.00,0.000,6,0.000,0.078,2705,2093,3897
$GC,222,-0.74,-117.3,13.2,-8.9,40,228,0.00,2.42,0.00,0.000,4,0.000,0.089,2705,3521,3898
$GC,280,-0.74,-117.3,18.6,-9.5,52,286,0.00,2.25,0.00,0.000,6,0.000,0.054,2705,2102,3898
$GC,356,-0.74,-117.3,25.4,-8.9,68,362,0.00,2.38,0.00,0.000,4,0.000,0.083,2705,3515,3898
$GC,390,-0.74,-117.3,28.9,-10.2,75,397,0.00,2.25,0.00,0.000,6,0.000,0.053,2705,2089,3898
$GC,467,-0.74,-117.3,36.3,-9.6,91,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,3899
$GC,542,-0.74,-117.3,43.7,-9.4,107,548,0.00,2.40,0.00,0.000,4,0.000,0.084,2705,3519,3899
$GC,576,-0.74,-117.3,47.5,-10.5,114,583,0.00,2.22,0.00,0.000,6,0.000,0.052,2705,2102,3899
$GC,722,-0.74,-117.3,62.7,-10.5,145,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2102,3899
$GC,865,-0.74,-117.3,77.5,-10.1,176,871,0.00,2.35,0.00,0.000,4,0.000,0.084,2705,3514,3899
$GC,945,-0.74,-117.3,85.7,-10.2,193,951,0.00,2.20,0.00,0.000,6,0.000,0.053,2705,2100,3899
$GC,1091,-0.74,-117.3,99.9,-9.2,224,1098,0.00,2.38,0.00,0.000,4,0.000,0.085,2705,3521,3898
$GC,1108,-0.74,-117.3,101.6,-9.3,227,1114,0.00,2.22,0.00,0.000,6,0.000,0.053,2705,2089,3898
$STATE,1164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1164,begin apogee
$GC,1168,-0.15,0.0,107.1,9.4,239,1259,0.60,0.00,84.07,0.689,6,0.153,0.000,2896,2088,3417
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1262,0.74,117.3,108.4,0.0,256,1354,0.82,2.38,85.80,0.680,4,0.087,0.056,3198,687,2938
$GC,1405,0.74,117.3,90.5,17.6,284,1411,0.00,2.30,0.00,0.000,6,0.000,0.052,3198,2115,2938
$GC,1551,0.74,117.3,67.0,16.6,315,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2115,2938
$GC,1695,0.74,117.3,41.6,17.3,346,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2114,2937
$GC,1840,0.74,117.3,17.3,15.7,377,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2115,2937
$GC,1915,0.74,117.3,6.5,12.7,393,1921,0.00,2.25,0.00,0.000,4,0.000,0.059,3209,697,2937
$GC,1940,0.78,150.0,4.6,8.1,398,1968,0.00,2.20,23.83,0.627,6,0.000,0.052,3208,2112,2806
$GC,2039,0.99,319.9,4.1,0.3,418,2057,0.17,0.00,15.52,0.614,2,0.069,0.000,3283,2111,2722
$STATE,2058,end climb,SURFACE_DEPTH_REACHED
$STATE,2058,begin surface coast
$FINISH,3.3,1.019801
$STATE,2219,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2219,begin surface
$SM_CCo,2235,244.52,0.633,0,0,1379,500.17
$SM_GC,1.27,0.00,0.00,244.52,0.000,0.000,0.633,136,2116,1379,-8.80,0.45,500.17
$IRIDIUM_FIX,4748.51,-12221.84,091098,202022
$TT8_MAMPS,0.026845
$HUMID,1955
$INTERNAL_PRESSURE,9.18553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.7,0.777
$10V_AH,10.8,0.273
$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,21.025,36.775,209.225,244.525,0.000,19.635,25.082,209.846,0.750,0.000,0.000,16.027,675.738,603.774,545.532,686.140,332.786,31.416,951.529,0.000,675.291,0.000,5.656,0.000
$DEVICE_MAMPS,247.741,88.972,688.766,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.964,239.001,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15838,456
$CAP_FILE_SIZE,50226,0
$CFSIZE,260165632,256327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,150709,220638,4807.749,-12223.105,9,1.5,9,18.3