version: 66.02
glider: 119
mission: 2
dive: 21
start: 10 30 107 15 38 49
data:
$ID,119
$MISSION,2
$DIVE,21
$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,-14309.697
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,152957,4808.127,-12223.446,10,1.3,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-71.5
$GPS2,153757,4808.165,-12223.459,14,1.6,14,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.184,-0.128
$KALMAN_X,1333.2,1395.4,-166.2,-2895.4,-467.8
$KALMAN_Y,-76.8,-673.3,76.4,598.3,391.0
$MHEAD_RNG_PITCHd_Wd,106.5,645,-11.5,-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,-0.70,-146.6,0.0,0.0,0,134,0.00,0.00,-114.80,0.000,2,0.000,0.000,1378,2210,2959
$GC,136,-0.70,-146.6,3.6,-4.9,21,183,11.68,2.47,-26.23,0.000,4,0.175,0.082,3010,3621,3865
$GC,434,-0.70,-146.6,29.3,-8.2,64,442,0.00,2.33,0.00,0.000,6,0.000,0.041,3010,2216,3865
$GC,632,-0.70,-146.6,44.6,-8.0,83,636,0.00,2.40,0.00,0.000,4,0.000,0.067,3010,3624,3865
$GC,776,-0.70,-146.6,56.4,-7.8,92,781,0.00,2.30,0.00,0.000,6,0.000,0.042,3010,2227,3865
$GC,1097,-0.70,-146.6,81.9,-8.1,108,1102,0.00,2.38,0.00,0.000,4,0.000,0.067,3010,3624,3866
$GC,1129,-0.70,-146.6,84.5,-8.8,109,1137,0.00,2.30,0.00,0.000,6,0.000,0.041,3010,2221,3865
$GC,1448,-0.70,-146.6,108.7,-7.8,130,1452,0.00,2.38,0.00,0.000,4,0.000,0.067,3010,3621,3866
$GC,1475,-0.70,-146.6,110.9,-7.6,132,1479,0.00,2.28,0.00,0.000,6,0.000,0.043,3010,2213,3865
$STATE,1744,end dive,NO_VERTICAL_VELOCITY
$STATE,1745,begin apogee
$GC,1748,-0.23,0.0,118.5,0.0,157,1868,0.62,0.00,112.40,0.796,6,0.068,0.000,3122,2207,3266
$STATE,1868,end apogee,CONTROL_FINISHED_OK
$STATE,1868,begin climb
$GC,1870,0.70,146.6,118.4,0.0,169,1989,1.17,0.00,115.35,0.759,6,0.070,0.000,3317,2207,2669
$GC,2310,0.70,146.6,80.1,10.6,203,2314,0.00,2.45,0.00,0.000,4,0.000,0.058,3317,771,2669
$GC,2349,0.70,146.6,75.6,11.3,205,2353,0.00,2.33,0.00,0.000,6,0.000,0.046,3318,2181,2669
$GC,2666,0.70,146.6,42.4,10.0,224,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2181,2668
$GC,2857,0.70,146.6,23.8,9.9,242,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2181,2669
$GC,3058,0.70,146.6,5.6,8.0,274,3064,0.00,2.38,0.00,0.000,4,0.000,0.066,3318,3592,2669
$STATE,3086,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,3.8,1.020610
$STATE,3160,end surface coast,CONTROL_FINISHED_OK
$STATE,3160,begin surface
$SM_CCo,3178,154.73,0.685,0,0,1227,500.17
$SM_GC,0.77,0.00,0.00,154.73,0.000,0.000,0.685,1374,2203,1227,-8.26,-0.48,500.17
$IRIDIUM_FIX,4751.72,-12226.29,301007,191919
$TT8_MAMPS,0.028379
$HUMID,1860
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,39.8
$24V_AH,24.2,2.674
$10V_AH,10.7,1.102
$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,24.275,28.250,227.750,154.725,0.000,76.793,83.269,173.572,1.000,0.000,0.000,15.647,474.374,1849.092,485.842,625.077,398.477,33.313,815.420,0.000,624.542,0.000,8.510
$DEVICE_MAMPS,174.876,82.069,796.146,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,202.017,219.193,492.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12795,292
$CFSIZE,260165632,258187264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,301007,163528,4808.005,-12223.165,32,1.9,32,18.3