version: 66.04
glider: 174
mission: 3
dive: 27
start: 10 8 109 14 14 26
data:
$ID,174
$MISSION,3
$DIVE,27
$D_SURF,2
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51281
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$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,-52892.758
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,164
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3450
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.588158
$PRESSURE_SLOPE,0.0001153192
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043291254
$SEABIRD_T_H,0.00062543445
$SEABIRD_T_I,2.3941184e-05
$SEABIRD_T_J,2.5959678e-06
$SEABIRD_C_G,-10.112459
$SEABIRD_C_H,1.147844
$SEABIRD_C_I,-0.00018212647
$SEABIRD_C_J,0.00010580273
$GPS1,140752,4807.550,-12223.316,12,2.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-75.3
$GPS2,141334,4807.529,-12223.297,16,3.1,35,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.020,0.164
$KALMAN_X,635.2,2116.6,200.3,-3232.6,18.5
$KALMAN_Y,-2715.9,-2233.5,248.2,4770.9,-535.5
$MHEAD_RNG_PITCHd_Wd,348.7,946,-15.2,-6.024
$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,14,-0.53,-78.2,0.0,0.0,0,78,0.00,0.00,-58.78,0.000,6,0.000,0.000,140,2041,3769
$GC,81,-0.53,-78.2,2.1,-2.7,12,99,9.75,2.17,0.00,0.000,4,0.267,0.039,2410,619,3771
$GC,274,-0.53,-78.2,22.8,-8.7,53,280,0.00,2.20,0.00,0.000,6,0.000,0.048,2403,2040,3772
$GC,350,-0.53,-78.2,29.5,-9.0,69,356,0.00,2.20,0.00,0.000,4,0.000,0.057,2396,3457,3772
$GC,485,-0.53,-78.2,42.3,-9.8,98,491,0.00,2.12,0.00,0.000,6,0.000,0.037,2396,2032,3772
$GC,631,-0.53,-78.2,55.5,-9.0,129,636,0.00,2.10,0.00,0.000,4,0.000,0.043,2396,635,3772
$GC,688,-0.53,-78.2,61.2,-9.9,141,694,0.00,2.17,0.00,0.000,6,0.000,0.048,2391,2054,3772
$GC,833,-0.53,-78.2,75.2,-9.4,172,839,0.00,2.15,0.00,0.000,4,0.000,0.058,2388,3447,3772
$GC,991,-0.53,-78.2,91.3,-10.0,205,997,0.00,2.10,0.00,0.000,6,0.000,0.036,2388,2025,3772
$GC,1136,-0.53,-78.2,105.3,-9.2,236,1142,0.00,2.08,0.00,0.000,4,0.000,0.042,2388,633,3772
$STATE,1179,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1179,begin apogee
$GC,1185,-0.14,0.0,109.3,9.3,245,1250,0.45,0.00,60.75,0.741,6,0.155,0.000,2528,1991,3450
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,0.53,78.2,112.1,0.0,257,1323,0.65,2.30,61.22,0.713,4,0.107,0.048,2758,592,3131
$GC,1328,0.54,85.8,108.3,5.6,271,1341,0.00,2.25,7.70,0.594,6,0.000,0.049,2758,1987,3100
$GC,1480,0.54,85.8,94.5,9.4,303,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1987,3099
$GC,1624,0.54,85.8,82.0,8.5,334,1630,0.00,2.20,0.00,0.000,4,0.000,0.050,2769,575,3099
$GC,1635,0.54,85.8,81.1,8.4,336,1641,0.00,2.20,0.00,0.000,6,0.000,0.050,2769,1983,3099
$GC,1780,0.54,85.8,67.4,9.8,367,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1985,3099
$GC,1925,0.54,85.8,53.7,9.2,398,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1984,3099
$GC,2069,0.54,85.8,40.5,9.0,429,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1984,3099
$GC,2213,0.54,85.8,27.8,8.8,460,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1985,3099
$GC,2288,0.54,85.8,21.4,8.4,476,2294,0.00,2.15,0.00,0.000,4,0.000,0.051,2779,585,3099
$GC,2308,0.54,85.8,19.8,7.9,480,2314,0.00,2.17,0.00,0.000,6,0.000,0.052,2779,1992,3099
$GC,2384,0.54,85.8,13.3,8.5,496,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1992,3099
$GC,2459,0.54,85.8,6.7,8.5,512,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1992,3099
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2518,begin surface coast
$FINISH,0.3,1.021298
$STATE,2547,end surface coast,CONTROL_FINISHED_OK
$STATE,2547,begin surface
$SM_CCo,2561,88.57,0.660,0,0,2307,280.13
$SM_GC,1.35,0.00,0.00,88.57,0.000,0.000,0.660,133,2057,2307,-7.66,0.48,280.13
$IRIDIUM_FIX,4748.51,-12221.84,020199,131346
$TT8_MAMPS,0.028379
$HUMID,2004
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,39.1
$24V_AH,24.6,2.250
$10V_AH,10.8,0.945
$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,18.100,34.775,129.675,88.575,0.000,25.112,29.367,185.564,0.750,0.000,0.000,36.658,821.921,750.439,316.577,814.861,303.916,33.315,750.118,0.000,782.552,0.000,5.514,0.000
$DEVICE_MAMPS,266.916,99.710,740.922,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.784,272.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19017,531
$CAP_FILE_SIZE,50700,0
$CFSIZE,260165632,257286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,145920,4807.765,-12223.170,12,1.6,12,18.3