version: 66.02
glider: 119
mission: 2
dive: 19
start: 10 30 107 13 45 13
data:
$ID,119
$MISSION,2
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.299999
$TGT_DEFAULT_LON,-157.8
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,-14255.689
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1379
$PITCH_MAX,3813
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3878
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3879
$C_VBD,3267
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-3.8181691
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004348367
$SEABIRD_T_H,0.00063394889
$SEABIRD_T_I,2.4089732e-05
$SEABIRD_T_J,2.5198262e-06
$SEABIRD_C_G,-10.04077
$SEABIRD_C_H,1.1285373
$SEABIRD_C_I,-0.0022196125
$SEABIRD_C_J,0.00025642588
$GPS1,134026,4808.069,-12224.028,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-71.7
$GPS2,134421,4808.078,-12224.042,14,1.6,14,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.142,0.014
$KALMAN_X,3065.6,724.0,-291.8,-4555.2,605.5
$KALMAN_Y,-1098.1,-330.6,153.0,1038.4,-210.2
$MHEAD_RNG_PITCHd_Wd,65.9,1296,-20.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.00,-53.3,0.0,0.0,0,129,0.00,0.00,-109.28,0.000,2,0.000,0.000,1376,2232,2876
$GC,131,-1.02,-71.0,3.8,-4.9,20,166,11.30,2.40,-17.92,0.000,4,0.178,0.068,2940,815,3557
$GC,206,-1.02,-71.0,11.2,-8.1,33,212,0.00,2.33,0.00,0.000,6,0.000,0.050,2940,2211,3557
$GC,279,-1.02,-71.0,18.6,-10.1,46,285,0.00,2.42,0.00,0.000,4,0.000,0.070,2940,3624,3557
$GC,347,-1.02,-71.0,26.4,-12.0,54,351,0.00,2.30,0.00,0.000,6,0.000,0.043,2940,2221,3557
$GC,543,-1.02,-71.0,48.4,-11.6,72,547,0.00,2.40,0.00,0.000,4,0.000,0.068,2941,3621,3556
$GC,613,-1.02,-71.0,56.9,-11.9,75,618,0.00,2.30,0.00,0.000,6,0.000,0.042,2940,2225,3557
$GC,935,-1.02,-71.0,92.4,-11.4,91,939,0.00,2.38,0.00,0.000,4,0.000,0.067,2940,3621,3557
$GC,1063,-1.02,-71.0,107.6,-12.3,99,1067,0.00,2.28,0.00,0.000,6,0.000,0.042,2940,2217,3557
$GC,1387,-1.11,-146.6,117.5,0.0,129,1391,0.00,0.00,-2.08,0.000,6,0.000,0.000,2941,2212,3871
$STATE,1461,end dive,NO_VERTICAL_VELOCITY
$STATE,1461,begin apogee
$GC,1464,-0.23,0.0,117.5,0.0,136,1583,1.02,0.00,114.25,0.795,6,0.072,0.000,3121,2212,3267
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1585,1.11,146.6,117.4,0.0,148,1710,1.73,2.53,115.38,0.757,4,0.072,0.067,3407,3580,2669
$GC,1765,1.11,146.6,100.6,17.5,165,1772,0.00,2.40,0.00,0.000,6,0.000,0.043,3407,2178,2669
$GC,2080,1.11,146.6,47.2,16.6,181,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2178,2670
$GC,2272,1.11,146.6,17.0,15.3,200,2278,0.00,2.42,0.00,0.000,4,0.000,0.064,3407,3588,2670
$GC,2311,1.11,146.6,10.6,15.8,207,2318,0.00,2.33,0.00,0.000,6,0.000,0.043,3407,2170,2670
$GC,2385,1.14,167.3,4.4,4.6,220,2403,0.00,2.47,13.15,0.683,4,0.000,0.064,3406,3583,2584
$STATE,2604,end climb,NO_VERTICAL_VELOCITY
$STATE,2604,begin surface
$SM_CCo,2624,148.60,0.686,0,0,1227,500.17
$SM_GC,1.10,0.00,0.00,148.60,0.000,0.000,0.686,1375,2212,1227,-8.26,-0.23,500.17
$IRIDIUM_FIX,4738.89,-12612.29,301007,161605
$TT8_MAMPS,0.027612
$HUMID,1861
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,38.4
$24V_AH,24.2,2.468
$10V_AH,10.7,1.024
$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
$DEVICE_SECS,25.575,33.225,242.775,148.600,0.000,40.110,31.456,97.646,1.000,0.000,0.000,15.899,424.560,1344.511,471.586,574.102,209.982,33.309,793.392,0.000,567.820,0.000,8.503
$DEVICE_MAMPS,177.944,69.797,794.612,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,177.761,190.230,437.132,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12839,259
$CFSIZE,260165632,258244608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301007,143209,4808.196,-12223.782,11,1.4,11,18.3