version: 66.04
glider: 170
mission: 1
dive: 4
start: 7 15 109 22 13 2
data:
$ID,170
$MISSION,1
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,480
$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,-9378.4785
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.362949
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,220638,4807.749,-12223.105,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-76.8
$GPS2,221208,4807.734,-12223.127,10,1.7,10,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.085,0.219
$KALMAN_X,-159.3,-110.4,-90.5,616.4,-36.2
$KALMAN_Y,-77.0,28.7,34.1,974.1,-18.8
$MHEAD_RNG_PITCHd_Wd,2.8,517,-19.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-117.3,0.0,0.0,0,90,0.00,0.00,-72.70,0.000,2,0.000,0.000,137,2116,3238
$GC,92,-0.78,-117.3,3.1,-4.2,14,126,10.30,2.38,-17.58,0.000,4,0.249,0.099,2696,3506,3898
$GC,293,-0.78,-117.3,22.3,-9.6,56,299,0.00,2.22,0.00,0.000,6,0.000,0.057,2696,2104,3899
$GC,369,-0.78,-117.3,30.1,-10.5,72,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2104,3899
$GC,444,-0.78,-117.3,37.7,-10.2,88,450,0.00,2.35,0.00,0.000,4,0.000,0.085,2696,3497,3899
$GC,497,-0.78,-117.3,43.6,-10.8,99,503,0.00,2.22,0.00,0.000,6,0.000,0.055,2696,2095,3899
$GC,642,-0.78,-117.3,59.4,-10.8,130,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,3899
$GC,787,-0.78,-117.3,74.3,-6.9,161,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,3899
$GC,932,-0.78,-117.3,86.2,-9.9,192,938,0.00,2.38,0.00,0.000,4,0.000,0.087,2696,3509,3899
$GC,985,-0.78,-117.3,92.0,-10.6,203,991,0.00,2.22,0.00,0.000,6,0.000,0.056,2696,2102,3899
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1120,-0.16,0.0,105.3,9.7,231,1210,0.62,0.00,84.18,0.688,6,0.155,0.000,2894,2101,3419
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1213,0.78,117.3,106.7,0.0,248,1309,0.85,2.38,86.15,0.680,4,0.086,0.058,3203,700,2939
$GC,1343,0.78,117.3,91.0,18.3,273,1349,0.00,2.28,0.00,0.000,6,0.000,0.051,3203,2107,2939
$GC,1489,0.78,117.3,65.9,17.7,304,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2107,2938
$GC,1634,0.78,117.3,40.0,17.5,335,1640,0.00,2.28,0.00,0.000,4,0.000,0.058,3214,683,2938
$GC,1723,0.78,117.3,24.6,16.0,354,1729,0.00,2.25,0.00,0.000,6,0.000,0.054,3214,2114,2938
$GC,1799,0.78,117.3,12.0,16.6,370,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2114,2938
$STATE,1873,end climb,SURFACE_DEPTH_REACHED
$STATE,1873,begin surface coast
$FINISH,4.6,1.020649
$STATE,1949,end surface coast,CONTROL_FINISHED_OK
$STATE,1949,begin surface
$SM_CCo,1951,458.08,0.623,0,0,460,725.60
$SM_GC,1.25,8.52,0.00,0.00,0.060,0.000,0.000,134,2115,455,-8.75,0.42,726.58
$IRIDIUM_FIX,4807.83,-12231.26,091098,212159
$TT8_MAMPS,0.026078
$HUMID,1974
$INTERNAL_PRESSURE,9.11717
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.7,0.904
$10V_AH,10.8,0.301
$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,20.300,22.950,170.325,458.075,0.000,23.443,28.760,198.244,0.750,0.000,0.000,11.089,601.016,633.180,713.440,601.758,314.058,32.335,1067.882,0.000,599.193,0.000,5.645,0.000
$DEVICE_MAMPS,249.275,98.943,687.999,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.669,202.498,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12698,402
$CAP_FILE_SIZE,42372,0
$CFSIZE,260165632,256307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150709,225602,4807.895,-12223.075,14,1.4,32,18.3