version: 66.04
glider: 130
mission: 5
dive: 21
start: 5 20 109 15 54 49
data:
$ID,130
$MISSION,5
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$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,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52401.605
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,154225,4807.953,-12222.979,12,1.3,29,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.2
$GPS2,155355,4807.915,-12222.960,12,1.2,29,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.071,0.158
$KALMAN_X,-387.9,15.6,-28.2,874.9,52.1
$KALMAN_Y,1396.1,-241.6,82.3,-1183.2,-67.6
$MHEAD_RNG_PITCHd_Wd,317.5,166,-27.2,-10.000
$D_GRID,103
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,81,0.00,0.00,-60.08,0.000,2,0.000,0.000,412,1944,1992
$GC,85,-1.85,-117.2,3.0,-4.2,10,161,11.25,2.47,-56.00,0.000,4,0.148,0.061,2437,3355,3916
$GC,413,-1.85,-117.2,40.1,-15.0,79,419,0.00,2.42,0.00,0.000,6,0.000,0.042,2437,1955,3916
$GC,558,-1.85,-117.2,62.6,-16.7,104,564,0.00,2.47,0.00,0.000,4,0.000,0.051,2437,3359,3916
$GC,757,-1.89,-117.2,94.8,-15.4,146,763,0.00,2.45,0.00,0.000,6,0.000,0.044,2437,1949,3916
$STATE,808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,808,begin apogee
$GC,818,-0.31,0.0,103.1,15.2,155,915,1.62,0.00,88.95,0.663,6,0.092,0.000,2772,2053,3436
$STATE,916,end apogee,CONTROL_FINISHED_OK
$STATE,916,begin climb
$GC,920,1.85,117.2,108.0,0.0,173,1019,2.12,2.53,88.80,0.644,4,0.050,0.054,3250,3450,2959
$GC,1030,1.78,117.4,101.9,10.0,192,1037,0.00,2.47,0.00,0.000,6,0.000,0.044,3250,2044,2958
$GC,1174,1.78,117.4,82.4,13.0,217,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2044,2957
$GC,1317,1.78,117.4,64.0,13.0,242,1323,0.00,2.50,0.00,0.000,4,0.000,0.055,3250,3449,2957
$GC,1363,1.75,117.4,57.8,13.4,251,1370,0.12,2.45,0.00,0.000,6,0.121,0.045,3229,2048,2957
$GC,1506,1.75,117.4,41.2,10.9,276,1512,0.00,2.47,0.00,0.000,4,0.000,0.055,3229,3451,2957
$GC,1565,1.75,117.4,34.4,11.7,288,1572,0.00,2.45,0.00,0.000,6,0.000,0.045,3229,2047,2957
$GC,1642,1.75,117.4,26.1,10.4,301,1649,0.00,2.50,0.00,0.000,4,0.000,0.055,3229,3454,2957
$GC,1699,1.75,117.4,19.7,11.3,313,1706,0.00,2.45,0.00,0.000,6,0.000,0.046,3229,2050,2957
$GC,1776,1.75,117.4,11.5,10.7,326,1782,0.00,2.50,0.00,0.000,4,0.000,0.055,3229,3458,2956
$GC,1962,1.91,196.1,7.0,1.6,367,2031,0.12,2.45,60.38,0.603,6,0.064,0.044,3261,2047,2636
$GC,2107,2.18,291.5,6.1,-0.2,390,2189,0.22,2.55,74.57,0.590,4,0.048,0.060,3321,646,2246
$GC,2215,2.37,371.4,5.1,1.5,408,2285,0.17,2.42,62.65,0.581,6,0.048,0.039,3367,2057,1921
$STATE,2289,end climb,SURFACE_DEPTH_REACHED
$STATE,2289,begin surface coast
$FINISH,4.5,1.015463
$STATE,2486,end surface coast,CONTROL_FINISHED_OK
$STATE,2486,begin surface
$SM_CCo,2490,301.58,0.555,9,0,516,716.52
$SM_GC,1.88,13.23,0.00,0.00,0.036,0.000,0.000,409,1944,515,-11.14,-0.17,716.77
$IRIDIUM_FIX,4748.51,-12219.12,140898,151502
$TT8_MAMPS,0.025311
$HUMID,1546
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.6,2.725
$10V_AH,10.8,1.904
$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,28.875,39.900,375.350,301.575,0.000,51.457,133.114,246.406,0.000,0.000,0.000,30.881,641.099,636.720,748.402,881.110,744.763,33.328,1222.702,0.000,934.097,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,68.263,663.455,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,379.736,225.012,535.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22260,455
$CAP_FILE_SIZE,49953,0
$CFSIZE,260165632,185724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$GPS,200509,164524,4807.938,-12222.915,34,1.7,38,18.3