version: 66.03
glider: 128
mission: 3
dive: 20
start: 4 17 108 13 57 2
data:
$ID,128
$MISSION,3
$DIVE,20
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51171
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$N_FILEKB,8
$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,-96472.875
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3181
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-12.587764
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,134733,4807.904,-12223.454,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.6
$GPS2,135603,4807.836,-12223.474,13,1.4,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.137
$KALMAN_X,-1467.2,59.7,-112.3,1573.8,7.5
$KALMAN_Y,2432.9,-79.2,113.2,-2062.2,-105.2
$MHEAD_RNG_PITCHd_Wd,32.3,660,-22.4,-10.000
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.05,-97.8,0.0,0.0,0,160,0.00,0.00,-122.28,0.000,6,0.000,0.000,55,2035,3580
$GC,166,-1.05,-97.8,3.9,-2.0,24,184,10.43,2.33,0.00,0.000,4,0.209,0.039,2670,655,3582
$GC,222,-1.05,-97.8,7.2,-4.9,33,228,0.00,2.33,0.00,0.000,6,0.000,0.032,2662,2046,3582
$GC,300,-1.05,-97.8,10.5,-4.4,46,306,0.00,2.35,0.00,0.000,4,0.000,0.047,2651,3461,3583
$GC,333,-1.05,-97.8,12.3,-5.9,51,339,0.00,2.28,0.00,0.000,6,0.000,0.029,2651,2042,3583
$GC,410,-1.05,-97.8,16.9,-5.7,64,416,0.00,2.30,0.00,0.000,4,0.000,0.041,2651,648,3583
$GC,426,-1.05,-97.8,17.8,-6.0,66,433,0.12,2.28,0.00,0.000,6,0.147,0.031,2671,2056,3583
$GC,501,-1.05,-97.8,22.8,-6.4,75,505,0.00,2.33,0.00,0.000,4,0.000,0.048,2662,3449,3583
$GC,533,-1.05,-97.8,24.8,-6.8,77,537,0.00,2.25,0.00,0.000,6,0.000,0.028,2662,2045,3584
$GC,734,-1.05,-97.8,39.3,-7.6,95,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2044,3583
$GC,935,-1.05,-97.8,54.1,-7.6,114,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2044,3583
$GC,1265,-1.05,-97.8,77.4,-7.3,145,1269,0.00,2.33,0.00,0.000,4,0.000,0.048,2651,3445,3583
$GC,1301,-1.05,-97.8,80.4,-7.6,147,1311,0.00,2.25,0.00,0.000,6,0.000,0.030,2651,2046,3583
$GC,1629,-1.05,-97.8,104.1,-7.1,178,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2046,3583
$STATE,1644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1644,begin apogee
$GC,1656,-0.21,0.0,105.7,7.4,180,1734,0.93,0.00,75.07,0.839,6,0.120,0.000,2939,2200,3181
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1741,1.05,97.8,107.6,0.0,188,1820,1.23,0.00,75.35,0.765,6,0.067,0.000,3348,2200,2782
$GC,2138,1.06,99.4,71.1,9.9,226,2142,0.00,2.38,0.00,0.000,4,0.000,0.049,3347,3603,2781
$GC,2202,1.06,99.4,64.1,11.2,231,2207,0.00,2.28,0.00,0.000,6,0.000,0.030,3358,2201,2780
$GC,2540,1.06,99.4,29.2,10.5,262,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2200,2780
$GC,2748,1.08,122.5,8.6,8.4,291,2771,0.00,0.00,19.38,0.854,6,0.000,0.000,3358,2199,2681
$STATE,2814,end climb,SURFACE_DEPTH_REACHED
$STATE,2814,begin surface coast
$FINISH,2.0,1.019720
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2883,203.50,0.698,0,0,835,575.23
$SM_GC,1.25,0.00,0.00,203.50,0.000,0.000,0.698,49,2028,835,-9.27,-0.48,575.23
$IRIDIUM_FIX,4751.72,-12340.51,120797,131311
$TT8_MAMPS,0.026078
$HUMID,1640
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,41.4
$24V_AH,24.3,3.117
$10V_AH,10.7,4.873
$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
$DEVICE_SECS,22.250,28.125,169.800,203.500,0.000,49.406,83.847,186.829,0.750,0.000,0.000,18.892,500.962,1453.625,478.625,612.237,568.490,33.324,810.666,0.000,628.428,0.000,7.086
$DEVICE_MAMPS,209.391,49.088,854.438,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.438,0.000,523.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12806,310
$CAP_FILE_SIZE,40603,0
$CFSIZE,260165632,227287040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170408,145015,4807.871,-12223.128,37,2.5,56,18.3