version: 66.04
glider: 174
mission: 3
dive: 28
start: 10 8 109 15 5 37
data:
$ID,174
$MISSION,3
$DIVE,28
$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,-52906.379
$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,47
$R_STBD_OVSHOOT,35
$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
$GPS1,145920,4807.765,-12223.170,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-75.7
$GPS2,150444,4807.753,-12223.165,12,1.7,12,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.001,0.165
$KALMAN_X,1322.0,1293.8,400.6,-3134.9,67.7
$KALMAN_Y,-3256.9,-1660.0,-180.9,5580.8,-661.4
$MHEAD_RNG_PITCHd_Wd,342.0,501,-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,-78.2,0.0,0.0,0,74,0.00,0.00,-57.80,0.000,6,0.000,0.000,133,2057,3770
$GC,76,-0.53,-78.2,2.4,-3.8,11,94,9.57,2.20,0.00,0.000,4,0.260,0.039,2411,628,3772
$GC,224,-0.53,-78.2,19.2,-9.6,42,231,0.00,2.20,0.00,0.000,6,0.000,0.049,2403,2040,3773
$GC,300,-0.53,-78.2,26.6,-9.6,58,306,0.00,2.20,0.00,0.000,4,0.000,0.058,2403,3453,3773
$GC,399,-0.53,-78.2,35.9,-9.3,79,405,0.00,2.12,0.00,0.000,6,0.000,0.037,2403,2030,3773
$GC,475,-0.53,-78.2,42.5,-8.8,95,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2029,3773
$GC,619,-0.53,-78.2,54.7,-8.6,126,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2029,3774
$GC,763,-0.53,-78.2,66.9,-8.4,157,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2029,3774
$GC,908,-0.53,-78.2,79.3,-8.6,188,913,0.00,2.22,0.00,0.000,4,0.000,0.058,2403,3463,3774
$GC,1018,-0.53,-78.2,89.5,-8.9,211,1024,0.00,2.12,0.00,0.000,6,0.000,0.036,2403,2025,3774
$GC,1164,-0.53,-78.2,101.7,-8.5,242,1170,0.00,2.08,0.00,0.000,4,0.000,0.042,2403,635,3774
$STATE,1243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1243,begin apogee
$GC,1249,-0.14,0.0,108.7,8.7,259,1315,0.40,0.00,61.00,0.743,6,0.145,0.000,2530,1992,3450
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1318,0.53,78.2,111.2,0.0,271,1388,0.65,2.30,61.20,0.716,4,0.106,0.048,2759,576,3131
$GC,1393,0.53,80.0,107.4,5.9,285,1399,0.00,2.28,0.00,0.000,6,0.000,0.049,2759,1985,3131
$GC,1539,0.53,80.0,94.4,9.3,316,1545,0.00,2.20,0.00,0.000,4,0.000,0.050,2769,588,3130
$GC,1555,0.53,80.0,92.8,9.3,319,1561,0.00,2.20,0.00,0.000,6,0.000,0.051,2769,1982,3130
$GC,1700,0.53,80.0,79.1,9.4,350,1706,0.00,2.17,0.00,0.000,4,0.000,0.051,2778,587,3130
$GC,1711,0.53,80.0,78.0,9.2,352,1717,0.00,2.20,0.00,0.000,6,0.000,0.052,2779,1991,3130
$GC,1857,0.53,80.0,63.7,10.1,383,1863,0.00,2.17,0.00,0.000,4,0.000,0.049,2789,582,3130
$GC,1868,0.53,80.0,62.6,10.1,385,1875,0.12,2.17,0.00,0.000,6,0.169,0.051,2757,1984,3130
$GC,2014,0.53,80.0,49.6,8.5,416,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1984,3130
$GC,2158,0.53,80.0,37.0,8.6,447,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1984,3130
$GC,2232,0.53,80.0,30.8,8.1,463,2238,0.00,2.15,0.00,0.000,4,0.000,0.051,2767,583,3130
$GC,2245,0.53,80.0,29.9,8.1,465,2251,0.00,2.17,0.00,0.000,6,0.000,0.052,2767,1989,3129
$GC,2321,0.53,80.0,23.3,8.5,481,2327,0.00,2.17,0.00,0.000,4,0.000,0.051,2776,573,3130
$GC,2332,0.53,80.0,22.3,8.6,483,2338,0.00,2.17,0.00,0.000,6,0.000,0.051,2775,1986,3130
$GC,2408,0.53,80.0,15.8,8.4,499,2414,0.00,2.15,0.00,0.000,4,0.000,0.051,2785,584,3130
$GC,2419,0.53,80.0,14.9,8.4,501,2425,0.00,2.15,0.00,0.000,6,0.000,0.052,2785,1977,3130
$GC,2494,0.53,80.0,8.3,8.4,517,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1977,3129
$GC,2569,0.53,80.0,2.5,7.6,533,2575,0.00,2.20,0.00,0.000,4,0.000,0.060,2785,3397,3130
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,0.0,1.020836
$STATE,2607,end surface coast,CONTROL_FINISHED_OK
$STATE,2607,begin surface
$SM_CCo,2623,92.55,0.660,0,0,2307,280.13
$SM_GC,1.49,0.00,0.00,92.55,0.000,0.000,0.660,138,2040,2307,-7.65,0.00,280.13
$IRIDIUM_FIX,4751.72,-12219.12,020199,141447
$TT8_MAMPS,0.028379
$HUMID,2005
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,38.3
$24V_AH,24.6,2.307
$10V_AH,10.8,0.975
$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,18.050,52.225,122.200,92.550,0.000,23.330,26.328,193.301,0.500,0.000,0.000,12.991,849.075,753.374,334.182,804.466,315.374,33.313,785.663,0.000,797.285,0.000,5.512,0.000
$DEVICE_MAMPS,260.013,59.826,743.223,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.197,276.797,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19000,541
$CAP_FILE_SIZE,55954,0
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,155138,4807.986,-12223.066,13,1.2,13,18.3