version: 66.04
glider: 33
mission: 4
dive: 20
start: 8 20 109 15 38 28
data:
$ID,33
$MISSION,4
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$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,25
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-167015.34
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1555
$PITCH_MAX,4048
$C_PITCH,3860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3738
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,2921
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.276699
$PRESSURE_SLOPE,0.00046800601
$AD7714Ch0Gain,64
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,99
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,153420,4807.972,-12222.962,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.7
$GPS2,153738,4807.987,-12222.963,14,1.2,14,18.3
$SPEED_LIMITS,0.200,0.314
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.004,0.200
$KALMAN_X,-111.1,194.4,-150.8,276.6,-45.9
$KALMAN_Y,-5181.8,63.2,401.3,5874.1,-23.0
$MHEAD_RNG_PITCHd_Wd,342.9,52,-44.0,-20.000
$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,-3.76,-73.6,0.0,0.0,0,140,0.00,0.00,-123.50,0.000,2,0.000,0.000,1546,2001,2897
$GC,142,-3.85,-146.6,3.2,-6.5,23,178,10.15,2.65,-19.62,0.000,4,0.206,0.089,3015,3435,3321
$GC,429,-3.85,-146.6,65.2,-24.3,55,437,0.00,2.53,0.00,0.000,6,0.000,0.084,3015,2054,3321
$STATE,579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,579,begin apogee
$GC,582,-0.42,0.0,101.9,25.0,63,711,4.85,0.00,117.43,0.817,6,0.186,0.000,3761,2054,2921
$STATE,712,end apogee,CONTROL_FINISHED_OK
$STATE,712,begin climb
$GC,713,3.85,146.6,107.3,0.0,76,840,1.58,2.67,114.28,0.795,4,0.112,0.104,4040,644,2522
$GC,956,3.92,209.4,90.6,8.6,94,1020,0.00,2.53,58.47,0.772,6,0.000,0.077,4040,2055,2351
$GC,1341,4.01,276.5,59.6,7.8,113,1403,0.00,2.78,52.53,0.762,4,0.000,0.109,4040,3473,2169
$GC,1441,4.08,336.3,50.7,9.2,117,1494,0.00,2.60,47.53,0.747,6,0.000,0.084,4040,2064,2006
$GC,1687,4.16,401.8,31.2,8.1,139,1745,0.00,2.70,52.55,0.742,4,0.000,0.109,4040,643,1827
$GC,1771,4.24,464.3,24.1,8.7,146,1830,0.00,2.58,49.38,0.732,6,0.000,0.082,4040,2060,1659
$GC,2033,4.33,539.2,5.1,6.4,188,2062,0.00,0.00,26.75,0.715,2,0.000,0.000,4040,2059,1568
$STATE,2063,end climb,SURFACE_DEPTH_REACHED
$STATE,2063,begin surface coast
$FINISH,-0.0,0.998639
$STATE,2152,end surface coast,CONTROL_FINISHED_OK
$STATE,2152,begin surface
$SM_CCo,2172,3.50,0.435,0,0,1561,500.34
$SM_GC,1.93,0.00,0.00,3.50,0.000,0.000,0.435,1550,2019,1561,-10.63,-0.17,500.34
$IRIDIUM_FIX,4751.72,-12221.84,141198,151556
$TT8_MAMPS,0.022243
$HUMID,2178
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.3,34.5
$24V_AH,22.9,3.275
$10V_AH,10.8,1.143
$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,29.700,21.125,518.900,3.500,0.000,30.843,27.322,76.781,1.000,0.000,0.000,14.641,307.806,887.864,543.688,484.784,166.595,33.316,891.542,0.000,452.497,0.000,8.548,0.000
$DEVICE_MAMPS,206.089,126.633,816.907,434.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.371,317.911,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9717,209
$CAP_FILE_SIZE,31140,0
$CFSIZE,260280320,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$GPS,200809,161526,4808.118,-12222.893,11,1.5,11,18.3