version: 66.08
glider: 107
mission: 17
dive: 24
start: 9 3 110 12 42 18
data:
$ID,107
$MISSION,17
$DIVE,24
$N_DIVES,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,80
$D_BOOST,4
$T_BOOST,0
$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,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51754
$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,47.716702
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-64787.805
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,357
$PITCH_MAX,3724
$C_PITCH,2575
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3960
$C_VBD,3193
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.699804
$PRESSURE_SLOPE,0.0001156423
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043463423
$SEABIRD_T_H,0.00064514292
$SEABIRD_T_I,2.5540507e-05
$SEABIRD_T_J,2.7081812e-06
$SEABIRD_C_G,-10.058743
$SEABIRD_C_H,1.136763
$SEABIRD_C_I,-0.0017889598
$SEABIRD_C_J,0.00021392011
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,030910,123538,4807.991,-12223.735,15,1.7,15,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-69.5
$GPS2,030910,124138,4807.964,-12223.688,10,2.0,10,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.256,0.050
$KALMAN_X,48.9,61.3,-16.9,-754.6,33.1
$KALMAN_Y,-1814.4,-121.6,-140.0,2037.0,-62.9
$MHEAD_RNG_PITCHd_Wd,60.6,876,-18.2,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,94,0.00,0.00,-78.62,0.000,2,0.000,0.000,360,2057,3711,0,0,0,0,0,0
$GC,96,-1.39,-146.6,4.5,-12.9,14,115,11.25,2.65,-1.77,0.000,4,0.177,0.083,2264,644,3792,0,0,0,0,0,0
$GC,354,-1.39,-146.6,38.7,-12.2,47,358,0.00,2.53,0.00,0.000,6,0.000,0.039,2264,2061,3793,0,0,0,0,0,0
$GC,551,-1.39,-146.6,60.9,-11.5,66,555,0.00,2.70,0.00,0.000,4,0.000,0.074,2264,648,3793,0,0,0,0,0,0
$GC,626,-1.39,-146.6,69.7,-11.6,73,629,0.00,2.53,0.00,0.000,6,0.000,0.041,2264,2062,3794,0,0,0,0,0,0
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,950,-0.33,0.0,105.1,10.7,104,1072,1.12,0.00,115.93,0.589,6,0.102,0.000,2494,2062,3192,0,0,0,0,0,0
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1075,1.39,146.6,109.2,0.0,115,1200,1.75,2.78,114.00,0.574,4,0.065,0.080,2878,644,2594,0,0,0,0,0,0
$GC,1231,1.39,146.6,98.1,11.3,130,1235,0.00,2.55,0.00,0.000,6,0.000,0.040,2879,2059,2594,0,0,0,0,0,0
$GC,1552,1.41,162.8,66.5,9.3,161,1575,0.00,2.75,14.23,0.519,4,0.000,0.076,2879,652,2528,0,0,0,0,0,0
$GC,1584,1.42,168.8,63.3,9.7,164,1597,0.00,2.53,6.07,0.451,6,0.000,0.039,2879,2062,2504,0,0,0,0,0,0
$GC,1905,1.44,185.7,32.3,9.2,195,1927,0.00,2.75,14.85,0.509,4,0.000,0.076,2879,649,2435,0,0,0,0,0,0
$GC,1937,1.45,188.4,29.1,9.9,198,1949,0.00,2.53,3.90,0.376,6,0.000,0.038,2879,2063,2424,0,0,0,0,0,0
$GC,2137,1.45,194.8,9.3,9.7,227,2149,0.00,0.00,7.10,0.450,6,0.000,0.000,2879,2063,2397,0,0,0,0,0,0
$GC,2213,1.55,273.7,3.3,6.4,241,2220,0.15,0.00,6.10,0.134,2,0.066,0.000,2919,2064,2380,0,0,0,0,0,0
$STATE,2221,end climb,SURFACE_DEPTH_REACHED
$STATE,2221,begin surface coast
$FINISH,0.7,1.019460
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2279,70.03,0.462,1,0,1868,325.02
$SM_GC,0.70,0.00,0.00,70.03,0.000,0.000,0.462,358,2064,1868,-10.20,0.11,325.02
$IRIDIUM_FIX,4751.72,-12340.51,030910,111127
$TT8_MAMPS,0.055426
$HUMID,57.36
$INTERNAL_PRESSURE,9.11748
$TCM_TEMP,19.70
$24V_AH,23.6,1.934
$10V_AH,10.0,0.640
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.075,26.275,282.175,70.025,0.000,29.034,28.464,218.525,0.000,0.000,10.819,0.000,1360.717,402.475,837.272,112.233,33.318,690.466,0.000,448.732,0.000,0.000,0.000
$DEVICE_MAMPS,177.480,82.620,589.050,462.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,167.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323968
$DATA_FILE_SIZE,6824,250
$CAP_FILE_SIZE,40666,0
$CFSIZE,260034560,255913984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,132202,4807.994,-12223.326,11,1.7,11,18.3