version: 66.04
glider: 175
mission: 1
dive: 21
start: 9 18 109 13 51 29
data:
$ID,175
$MISSION,1
$DIVE,21
$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,0
$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,-2870.572
$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,28
$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,46
$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,10
$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
$GPS1,134546,4807.990,-12223.533,8,8.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.30
$_SM_ANGLEo,-73.1
$GPS2,135050,4808.007,-12223.569,11,1.3,11,18.3
$SPEED_LIMITS,0.108,0.219
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.174,0.031
$KALMAN_X,-1608.4,123.1,49.5,-301.9,-133.6
$KALMAN_Y,-2767.2,128.1,-3.0,6005.1,-162.4
$MHEAD_RNG_PITCHd_Wd,61.5,704,-14.7,-6.250
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.63,-88.2,0.0,0.0,0,20,0.00,0.00,-6.93,0.000,2,0.000,0.000,144,2082,656
$GC,21,-0.71,-146.6,5.5,-0.0,1,166,9.45,2.28,-129.43,0.000,4,0.226,0.066,2549,3506,3832
$GC,300,-0.71,-146.6,23.1,-7.8,60,306,0.00,2.10,0.00,0.000,6,0.000,0.031,2550,2099,3833
$GC,370,-0.71,-146.6,27.8,-7.4,76,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3833
$GC,439,-0.71,-146.6,32.9,-7.7,92,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2098,3833
$GC,508,-0.71,-146.6,38.2,-8.4,108,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3833
$GC,577,-0.71,-146.6,43.9,-8.4,124,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3833
$GC,707,-0.71,-146.6,55.2,-9.2,154,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3834
$GC,837,-0.71,-146.6,67.4,-9.6,184,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3834
$GC,971,-0.71,-146.6,80.5,-9.9,215,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2098,3835
$GC,1105,-0.71,-146.6,93.7,-9.7,246,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,3835
$GC,1240,-0.71,-146.6,106.6,-9.8,277,1246,0.00,2.12,0.00,0.000,4,0.000,0.047,2549,702,3836
$GC,1284,-0.71,-146.6,110.8,-10.5,287,1290,0.00,2.12,0.00,0.000,6,0.000,0.040,2549,2100,3836
$STATE,1318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1318,begin apogee
$GC,1321,-0.29,0.0,114.2,9.6,295,1429,0.45,0.00,105.35,0.617,6,0.158,0.000,2684,2100,3233
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1430,0.71,146.6,115.5,0.0,315,1542,1.02,0.00,107.88,0.591,6,0.128,0.000,3000,2100,2635
$GC,1672,0.71,146.6,79.9,16.9,366,1678,0.00,2.33,0.00,0.000,4,0.000,0.054,3000,662,2632
$GC,1702,0.71,146.6,74.2,18.1,373,1709,0.00,2.17,0.00,0.000,6,0.000,0.038,3000,2054,2631
$GC,1838,0.71,146.6,51.5,16.8,404,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2055,2632
$GC,1972,0.71,146.6,29.3,16.1,435,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2054,2631
$GC,2041,0.71,146.6,18.5,15.4,451,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2054,2631
$GC,2110,0.71,146.6,8.9,13.5,467,2116,0.00,2.17,0.00,0.000,4,0.000,0.051,3000,3454,2631
$GC,2363,0.88,288.7,9.0,-0.6,525,2444,0.15,2.10,72.40,0.542,6,0.075,0.036,3064,2058,2055
$GC,2508,1.07,446.8,6.9,-1.3,555,2520,0.20,0.00,10.32,0.482,2,0.090,0.000,3133,2058,1947
$STATE,2521,end climb,SURFACE_DEPTH_REACHED
$STATE,2521,begin surface coast
$FINISH,6.7,0.998843
$STATE,2640,end surface coast,CONTROL_FINISHED_OK
$STATE,2640,begin surface
$SM_CCo,2642,175.98,0.525,0,0,464,678.99
$SM_GC,4.28,8.70,0.00,0.00,0.072,0.000,0.000,143,2057,462,-8.21,-1.22,679.73
$IRIDIUM_FIX,4748.51,-12158.62,131298,121205
$TT8_MAMPS,0.050622
$HUMID,2175
$INTERNAL_PRESSURE,9.06325
$TCM_TEMP,20.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,80.1,43.9
$24V_AH,24.7,2.131
$10V_AH,10.8,0.824
$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,19.975,17.400,295.950,175.975,0.000,25.517,24.441,189.072,5.250,0.000,0.000,13.225,0.000,1320.085,568.194,1038.778,294.604,33.308,1050.048,0.000,853.541,0.000,5.533,0.000
$DEVICE_MAMPS,226.265,65.962,617.435,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.792,309.911,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19015,585
$CAP_FILE_SIZE,52677,0
$CFSIZE,260165632,257064960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,144107,4808.017,-12223.255,41,1.1,41,18.3