version: 66.04
glider: 173
mission: 3
dive: 4
start: 10 7 109 19 41 54
data:
$ID,173
$MISSION,3
$DIVE,4
$D_SURF,2
$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,60
$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,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,350
$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,-5806.5142
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2930
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3423
$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,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.006035
$PRESSURE_SLOPE,0.0001159958
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,40
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,193719,4806.971,-12223.020,15,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.6
$GPS2,194102,4806.961,-12223.038,15,1.4,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.048,0.230
$KALMAN_X,-247.5,-106.8,-80.7,754.4,-135.2
$KALMAN_Y,-523.3,-235.9,-180.6,271.5,-286.1
$MHEAD_RNG_PITCHd_Wd,353.6,1925,-19.7,-10.000
$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,-0.74,-117.3,0.0,0.0,0,80,0.00,0.00,-63.35,0.000,2,0.000,0.000,134,2234,3561
$GC,82,-0.74,-117.3,3.2,-6.0,12,106,10.62,2.25,-8.18,0.000,4,0.272,0.066,2687,847,3904
$GC,139,-0.74,-117.3,13.0,-16.4,23,145,0.00,2.25,0.00,0.000,6,0.000,0.056,2687,2248,3905
$GC,215,-0.74,-117.3,25.0,-15.9,39,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2249,3905
$GC,289,-0.74,-117.3,37.0,-15.7,55,295,0.00,2.30,0.00,0.000,4,0.000,0.063,2686,3675,3905
$GC,323,-0.74,-117.3,42.6,-17.4,62,329,0.00,2.22,0.00,0.000,6,0.000,0.044,2687,2247,3905
$GC,468,-0.74,-117.3,65.9,-16.8,93,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2247,3906
$GC,613,-0.74,-117.3,90.1,-16.4,124,619,0.00,2.30,0.00,0.000,4,0.000,0.065,2687,3664,3906
$GC,652,-0.74,-117.3,96.7,-17.4,132,658,0.00,2.20,0.00,0.000,6,0.000,0.043,2687,2247,3906
$STATE,758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,759,begin apogee
$GC,763,-0.21,0.0,114.0,15.7,155,854,0.55,0.00,86.32,0.675,6,0.173,0.000,2858,2456,3423
$STATE,855,end apogee,CONTROL_FINISHED_OK
$STATE,855,begin climb
$GC,856,0.74,117.3,119.3,0.0,172,953,0.93,2.28,86.55,0.654,4,0.123,0.054,3166,3794,2943
$GC,958,0.74,117.3,109.3,14.6,191,964,0.00,2.17,0.00,0.000,6,0.000,0.039,3176,2452,2943
$GC,1104,0.74,117.3,83.4,18.0,222,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2450,2943
$GC,1248,0.74,117.3,58.7,17.3,253,1254,0.00,2.17,0.00,0.000,4,0.000,0.056,3176,3799,2943
$GC,1259,0.74,117.3,56.7,17.1,255,1265,0.08,2.12,0.00,0.000,6,0.227,0.041,3170,2439,2942
$GC,1404,0.74,117.3,33.8,15.1,286,1410,0.00,2.20,0.00,0.000,4,0.000,0.058,3170,3804,2943
$GC,1433,0.74,117.3,28.6,17.2,292,1439,0.00,2.12,0.00,0.000,6,0.000,0.042,3179,2442,2943
$GC,1509,0.74,117.3,17.0,14.9,308,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2441,2942
$GC,1584,0.74,117.3,6.0,14.0,324,1590,0.00,2.20,0.00,0.000,4,0.000,0.050,3190,1035,2942
$GC,1595,0.74,117.3,4.4,14.4,326,1601,0.10,2.25,0.00,0.000,6,0.203,0.048,3166,2463,2942
$STATE,1614,end climb,SURFACE_DEPTH_REACHED
$STATE,1614,begin surface coast
$FINISH,0.3,1.002839
$STATE,1629,end surface coast,CONTROL_FINISHED_OK
$STATE,1629,begin surface
$SM_CCo,1644,104.43,0.565,0,0,1994,350.04
$SM_GC,1.32,0.00,0.00,104.43,0.000,0.000,0.565,136,2238,1994,-8.73,-0.34,350.04
$IRIDIUM_FIX,4751.72,-12226.29,010199,191924
$TT8_MAMPS,0.026078
$HUMID,2057
$INTERNAL_PRESSURE,9.23283
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,42.6
$24V_AH,24.5,2.790
$10V_AH,10.8,1.361
$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,20.125,31.725,172.875,104.425,0.000,0.000,0.000,0.000,0.500,0.000,0.000,16.035,505.851,423.131,356.862,506.915,28.354,32.334,669.322,0.000,499.004,0.000,5.528,0.000
$DEVICE_MAMPS,271.518,65.962,674.960,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.449,169.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9598,333
$CAP_FILE_SIZE,49435,0
$CFSIZE,260165632,258174976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,201207,4807.138,-12222.926,31,1.1,31,18.3