version: 66.01
glider: 112
mission: 3
dive: 25
start: 8 29 107 15 41 10
data:
$ID,112
$MISSION,3
$DIVE,25
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51502
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.015
$HD_C,5.5e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27201.77
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,80
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,65
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3823
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.059999999
$VBD_MIN,289
$VBD_MAX,3753
$C_VBD,2787
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,75
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,80
$PRESSURE_YINT,-3.8012359
$PRESSURE_SLOPE,9.129227e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,49
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712994
$SEABIRD_T_H,0.00064806995
$SEABIRD_T_I,2.9318924e-05
$SEABIRD_T_J,3.4945006e-06
$SEABIRD_C_G,-10.125542
$SEABIRD_C_H,1.1422628
$SEABIRD_C_I,-0.00066794927
$SEABIRD_C_J,0.00014236888
$GPS1,153559,4806.282,-12222.284,12,7.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-48.1
$GPS2,154015,4806.286,-12222.278,12,1.8,12,18.3
$SPEED_LIMITS,0.133,0.201
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.075,0.186
$KALMAN_X,-402.5,395.8,90.0,2270.2,115.8
$KALMAN_Y,2800.1,90.6,169.1,-6040.6,-190.1
$MHEAD_RNG_PITCHd_Wd,326.0,3298,-17.4,-7.692
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.07,-146.6,0.0,0.0,0,51,0.00,0.00,-31.08,0.000,2,0.000,0.000,680,1973,2269
$GC,52,-1.07,-146.6,3.2,-5.2,6,114,17.83,2.78,-35.25,0.000,4,0.290,0.065,2437,607,3386
$GC,253,-0.99,-146.6,25.4,-13.6,39,260,0.12,2.75,0.00,0.000,6,0.154,0.041,2453,2015,3387
$GC,450,-0.95,-146.6,50.0,-12.4,58,455,0.00,2.85,0.00,0.000,4,0.000,0.061,2453,606,3388
$GC,500,-0.92,-146.6,56.3,-12.5,62,505,0.12,2.70,0.00,0.000,6,0.146,0.042,2470,1998,3388
$GC,824,-0.92,-146.6,91.8,-10.7,92,828,0.00,2.80,0.00,0.000,4,0.000,0.064,2470,616,3388
$GC,861,-0.92,-146.6,96.0,-10.9,95,866,0.00,2.65,0.00,0.000,6,0.000,0.041,2470,1987,3388
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,975,-0.24,0.0,107.9,10.8,105,1104,0.90,0.00,121.93,0.695,6,0.135,0.000,2618,2197,2787
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1107,1.07,146.6,112.0,0.0,118,1240,1.62,3.53,123.12,0.673,4,0.088,0.123,2905,3608,2189
$GC,1262,0.91,146.6,100.4,13.6,133,1267,0.20,2.83,0.00,0.000,6,0.147,0.038,2877,2214,2189
$GC,1586,0.84,146.6,64.1,10.7,163,1590,0.00,3.05,0.00,0.000,4,0.000,0.084,2877,786,2189
$GC,1635,0.75,146.6,58.6,10.9,167,1640,0.22,2.83,0.00,0.000,6,0.132,0.046,2843,2202,2188
$GC,1958,0.75,146.6,31.1,8.5,197,1963,0.00,2.88,0.00,0.000,4,0.000,0.060,2843,785,2188
$GC,1997,0.75,146.6,27.7,8.9,200,2001,0.00,2.78,0.00,0.000,6,0.000,0.047,2843,2188,2188
$GC,2199,0.76,153.8,11.9,7.4,227,2210,0.00,0.00,5.07,0.723,6,0.000,0.000,2843,2189,2160
$GC,2276,0.79,170.2,6.4,7.1,241,2292,0.00,0.00,12.82,0.686,6,0.000,0.000,2843,2189,2093
$GC,2359,1.10,304.8,3.7,3.0,256,2401,0.32,0.00,38.83,0.651,2,0.041,0.000,2918,2189,1833
$STATE,2402,end climb,SURFACE_DEPTH_REACHED
$STATE,2402,begin surface coast
$FINISH,1.0,1.000910
$STATE,2440,end surface coast,CONTROL_FINISHED_OK
$STATE,2440,begin surface
$SM_CCo,2458,69.20,0.624,0,0,1359,350.04
$SM_GC,2.12,0.00,0.00,69.20,0.000,0.000,0.624,679,1964,1359,-9.18,-1.02,350.04
$RAFOS_CLK,100
$RAFOS,2,1188403751,16.166700,16.153055,51,40,39,0,0,0,211,530,32,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,290807,181825
$TT8_MAMPS,0.023777
$HUMID,2033
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,20.8,2.425
$10V_AH,10.9,0.585
$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,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,32.875,35.275,301.775,69.200,0.000,40.563,49.165,91.260,0.250,13.610,448.953,1376.984,460.775,286.525,228.360,33.322,720.070,0.000,282.195,360.000,2.557
$DEVICE_MAMPS,289.926,122.720,723.281,623.571,0.000,103.000,160.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,20.000,1.500,30.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.218,195.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9575,271
$CFSIZE,260165632,256811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.8
$GPS,290807,162437,4806.501,-12222.385,35,1.0,41,18.3