version: 66.04
glider: 156
mission: 1
dive: 1
start: 8 15 108 18 56 18
data:
$ID,156
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,200
$D_NO_BLEED,80
$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,15
$T_MISSION,25
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,-7011.5137
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$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,70
$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,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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,184544,4807.264,-12222.864,9,1.7,20,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.2
$GPS2,185520,4807.207,-12222.822,16,1.4,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.038,0.257
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,333.2,1485,-17.5,-10.000
$D_GRID,107
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-146.6,0.0,0.0,0,137,0.00,0.00,-120.70,0.000,2,0.000,0.000,39,2152,3655
$GC,140,-0.88,-146.6,3.1,-5.4,21,166,8.38,2.25,-8.90,0.000,4,0.239,0.054,2255,720,3962
$GC,205,-0.88,-146.6,5.0,-4.6,34,212,0.00,2.15,0.00,0.000,6,0.000,0.034,2254,2114,3962
$GC,275,-0.88,-146.6,8.3,-4.3,50,282,0.00,2.17,0.00,0.000,4,0.000,0.038,2264,712,3963
$GC,341,-0.88,-146.6,9.9,-2.3,65,347,0.00,2.15,0.00,0.000,6,0.000,0.034,2264,2139,3964
$GC,412,-0.88,-146.6,12.1,-3.6,81,418,0.00,2.12,0.00,0.000,4,0.000,0.043,2265,3548,3963
$GC,528,-0.88,-146.6,18.4,-6.6,108,534,0.00,2.10,0.00,0.000,6,0.000,0.030,2275,2114,3963
$GC,599,-0.88,-146.6,22.4,-6.6,124,606,0.00,2.08,0.00,0.000,4,0.000,0.038,2286,734,3964
$GC,641,-0.88,-146.6,25.4,-7.4,133,648,0.15,2.10,0.00,0.000,6,0.202,0.032,2249,2139,3963
$GC,713,-0.88,-146.6,30.5,-6.5,149,719,0.00,2.12,0.00,0.000,4,0.000,0.043,2248,3540,3963
$STATE,757,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,757,begin apogee
$GC,764,-0.20,0.0,34.0,7.1,159,847,0.52,0.00,77.95,0.542,6,0.045,0.000,2486,2121,3516
$STATE,847,end apogee,CONTROL_FINISHED_OK
$STATE,847,begin climb
$GC,849,0.88,146.6,39.1,0.0,173,962,0.88,2.20,105.12,0.519,4,0.062,0.035,2825,716,2916
$STATE,967,end climb,SURFACE_DEPTH_REACHED
$STATE,967,begin surface coast
$FINISH,0.9,1.017429
$STATE,978,end surface coast,CONTROL_FINISHED_OK
$STATE,978,begin surface
$SM_CCo,996,403.58,0.495,0,0,662,700.09
$SM_GC,1.14,0.00,0.00,403.58,0.000,0.000,0.495,23,2132,662,-7.84,0.03,700.09
$IRIDIUM_FIX,4751.72,-12221.84,091197,181856
$TT8_MAMPS,0.027612
$HUMID,1734
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,22.40
$XPDR_PINGS,8
$24V_AH,25.2,0.601
$10V_AH,10.9,0.603
$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,18.375,25.850,183.075,403.575,0.000,0.000,0.000,0.000,2.000,0.000,0.000,33.633,298.207,88.303,662.271,408.734,42.293,29.237,912.634,0.000,393.309,0.000,1.005,0.000
$DEVICE_MAMPS,239.304,54.457,542.269,495.482,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,127.229,135.380,336.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9729,195
$CAP_FILE_SIZE,41398,0
$CFSIZE,260165632,258822144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,192027,4807.137,-12222.793,14,1.4,14,18.3