version: 66.04
glider: 175
mission: 1
dive: 20
start: 9 18 109 12 46 31
data:
$ID,175
$MISSION,1
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,80
$T_MISSION,90
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51338
$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,450
$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,-2856.7192
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3233
$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,-44.394344
$PRESSURE_SLOPE,0.0001165895
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,124006,4807.908,-12223.947,8,1.5,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-73.0
$GPS2,124552,4807.929,-12223.951,11,2.9,30,18.3
$SPEED_LIMITS,0.108,0.219
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.211,0.057
$KALMAN_X,-1284.0,40.8,33.6,-1004.9,19.7
$KALMAN_Y,-2707.8,128.6,-12.1,5812.3,-110.7
$MHEAD_RNG_PITCHd_Wd,56.6,1183,-10.4,-6.250
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.53,-146.6,0.0,0.0,0,20,0.00,0.00,-6.80,0.000,2,0.000,0.000,145,2108,657
$GC,21,-0.53,-146.6,6.2,-0.0,1,170,9.68,2.20,-130.75,0.000,4,0.225,0.062,2611,708,3832
$GC,399,-0.53,-146.6,26.0,-5.6,83,406,0.00,2.15,0.00,0.000,6,0.000,0.040,2611,2104,3833
$GC,470,-0.53,-146.6,29.2,-4.9,99,476,0.00,2.15,0.00,0.000,4,0.000,0.053,2611,3507,3834
$GC,518,-0.53,-146.6,31.8,-6.6,110,524,0.00,2.10,0.00,0.000,6,0.000,0.031,2611,2099,3834
$GC,588,-0.53,-146.6,35.6,-5.7,126,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2099,3834
$GC,657,-0.53,-146.6,39.1,-5.8,142,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2098,3834
$GC,727,-0.53,-146.6,43.0,-5.8,158,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2098,3834
$GC,861,-0.53,-146.6,51.1,-6.2,189,867,0.00,2.12,0.00,0.000,4,0.000,0.048,2611,708,3835
$GC,892,-0.53,-146.6,53.1,-6.3,196,898,0.00,2.12,0.00,0.000,6,0.000,0.039,2611,2102,3835
$GC,1027,-0.53,-146.6,62.4,-6.7,227,1033,0.00,2.17,0.00,0.000,4,0.000,0.053,2611,3508,3835
$GC,1058,-0.53,-146.6,64.4,-6.2,234,1064,0.00,2.10,0.00,0.000,6,0.000,0.031,2611,2094,3835
$GC,1194,-0.53,-146.6,73.4,-6.5,265,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2093,3835
$GC,1329,-0.53,-146.6,82.3,-6.6,296,1335,0.00,2.12,0.00,0.000,4,0.000,0.048,2611,682,3836
$GC,1364,-0.53,-146.6,84.5,-6.5,304,1370,0.00,2.15,0.00,0.000,6,0.000,0.039,2611,2098,3836
$GC,1500,-0.53,-146.6,93.0,-6.0,335,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2098,3836
$GC,1634,-0.53,-146.6,101.0,-6.0,366,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2098,3836
$STATE,1702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1702,begin apogee
$GC,1705,-0.27,0.0,105.1,6.2,382,1813,0.25,0.00,105.35,0.617,6,0.151,0.000,2687,2098,3233
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1814,0.53,146.6,104.7,0.0,402,1931,0.82,2.40,107.93,0.584,4,0.129,0.054,2942,664,2634
$GC,1965,0.53,146.6,91.2,9.1,432,1971,0.00,2.20,0.00,0.000,6,0.000,0.040,2942,2047,2632
$GC,2101,0.53,146.6,75.1,12.0,463,2107,0.00,2.20,0.00,0.000,4,0.000,0.051,2942,3457,2632
$GC,2123,0.53,146.6,72.0,13.7,468,2129,0.00,2.15,0.00,0.000,6,0.000,0.037,2943,2067,2632
$GC,2259,0.53,146.6,55.6,11.9,499,2265,0.00,2.22,0.00,0.000,4,0.000,0.056,2943,643,2632
$GC,2294,0.53,146.6,51.4,12.0,507,2300,0.00,2.17,0.00,0.000,6,0.000,0.038,2943,2053,2631
$GC,2430,0.53,146.6,36.1,11.0,538,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2053,2631
$GC,2498,0.53,146.6,28.6,10.3,554,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2053,2631
$GC,2567,0.53,146.6,21.8,9.3,570,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2053,2631
$GC,2633,0.53,146.6,15.2,9.8,585,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2053,2631
$GC,2702,0.53,146.6,9.7,7.4,601,2708,0.00,2.17,0.00,0.000,4,0.000,0.051,2943,3455,2630
$STATE,2897,end climb,NO_VERTICAL_VELOCITY
$STATE,2897,begin surface
$SM_CCo,2898,272.50,0.520,4,0,465,678.99
$SM_GC,3.78,7.95,0.00,0.00,0.072,0.000,0.000,143,2082,461,-8.21,-0.51,679.97
$IRIDIUM_FIX,4748.51,-12226.29,131298,111129
$TT8_MAMPS,0.050622
$HUMID,2232
$INTERNAL_PRESSURE,9.06325
$TCM_TEMP,19.80
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,80.2,47.1
$24V_AH,24.7,2.042
$10V_AH,10.8,0.793
$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,18.700,39.025,213.275,272.500,0.000,23.426,36.413,201.936,8.000,0.000,0.000,32.963,0.000,1692.606,660.160,1177.853,323.926,33.308,1183.434,0.000,941.147,0.000,5.848,0.000
$DEVICE_MAMPS,225.498,62.127,616.668,520.026,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.449,333.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22148,646
$CAP_FILE_SIZE,61602,0
$CFSIZE,260165632,257081344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,180909,134546,4807.990,-12223.533,8,8.2,27,18.3