version: 66.04
glider: 175
mission: 1
dive: 24
start: 9 18 109 16 33 55
data:
$ID,175
$MISSION,1
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,80
$T_MISSION,90
$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,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51338
$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,450
$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,-2966.895
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2785
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3233
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-44.394344
$PRESSURE_SLOPE,0.0001165895
$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,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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,162447,4808.002,-12222.714,10,3.4,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.44
$_SM_ANGLEo,-72.5
$GPS2,163316,4807.997,-12222.729,14,3.2,33,18.3
$SPEED_LIMITS,0.108,0.219
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.048,0.097
$KALMAN_X,-2260.8,-62.2,-343.0,1961.3,-468.1
$KALMAN_Y,-3030.4,45.8,31.6,6297.9,-269.0
$MHEAD_RNG_PITCHd_Wd,8.0,336,-26.5,-6.250
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.98,-31.3,0.0,0.0,0,98,0.00,0.00,-84.70,0.000,2,0.000,0.000,146,2111,2643
$GC,99,-1.03,-70.0,3.1,-1.1,16,138,9.38,0.00,-28.08,0.000,6,0.243,0.000,2447,2112,3520
$GC,202,-1.03,-70.0,16.2,-11.1,38,208,0.00,2.17,0.00,0.000,4,0.000,0.048,2440,3508,3521
$GC,455,-1.11,-131.6,13.8,2.0,96,467,0.00,2.10,-5.30,0.000,6,0.000,0.029,2439,2091,3773
$GC,531,-1.11,-131.6,18.8,-9.2,113,537,0.00,2.20,0.00,0.000,4,0.000,0.051,2440,3503,3773
$GC,783,-1.11,-131.6,49.8,-12.3,171,790,0.00,2.05,0.00,0.000,6,0.000,0.029,2440,2112,3774
$GC,919,-1.11,-131.6,65.7,-11.6,202,925,0.00,2.15,0.00,0.000,4,0.000,0.050,2440,3501,3774
$GC,1106,-1.11,-131.6,90.1,-13.4,245,1112,0.00,2.08,0.00,0.000,6,0.000,0.030,2440,2094,3775
$STATE,1219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1219,begin apogee
$GC,1222,-0.29,0.0,104.3,12.1,271,1324,0.85,0.00,94.93,0.604,6,0.183,0.000,2683,2091,3233
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1325,1.11,131.6,105.4,0.0,290,1432,1.45,2.22,96.88,0.580,4,0.133,0.046,3129,3451,2695
$GC,1445,1.11,131.6,81.2,27.2,313,1450,0.00,2.17,0.00,0.000,6,0.000,0.037,3138,2060,2695
$GC,1580,1.11,131.6,40.4,29.5,344,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2058,2693
$GC,1714,1.11,131.6,6.0,20.0,375,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2058,2692
$STATE,1730,end climb,SURFACE_DEPTH_REACHED
$STATE,1730,begin surface coast
$FINISH,2.7,1.018805
$STATE,1756,end surface coast,CONTROL_FINISHED_OK
$STATE,1756,begin surface
$SM_CCo,1769,156.62,0.505,5,0,1398,450.13
$SM_GC,3.82,0.00,0.00,156.62,0.000,0.000,0.505,147,2055,1398,-8.25,-1.27,450.13
$IRIDIUM_FIX,4748.51,-12221.84,131298,161634
$TT8_MAMPS,0.051389
$HUMID,2094
$INTERNAL_PRESSURE,9.09255
$TCM_TEMP,19.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,85.5,28.7
$24V_AH,24.7,2.391
$10V_AH,10.7,0.907
$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,20.375,17.150,191.800,156.625,0.000,48.028,56.508,255.058,12.000,0.000,0.000,37.127,0.000,860.273,467.229,725.814,409.371,33.294,791.791,0.000,565.794,0.000,9.865,0.000
$DEVICE_MAMPS,243.139,50.622,604.396,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.469,212.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12698,385
$CAP_FILE_SIZE,41047,0
$CFSIZE,260165632,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,180909,170706,4808.046,-12222.641,12,1.9,22,18.3