version: 66.03
glider: 133
mission: 2
dive: 18
start: 9 17 108 9 13 31
data:
$ID,133
$MISSION,2
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51844
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,22
$TGT_DEFAULT_LON,125
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-64194.742
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3795
$C_VBD,3285
$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,61.200001
$PRESSURE_YINT,-20.474766
$PRESSURE_SLOPE,0.0001156489
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4.9000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043775062
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,090907,4807.997,-12224.013,10,1.6,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.7
$GPS2,091309,4807.987,-12223.992,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,70.6,1227,-17.5,-10.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.35,-146.0,0.0,0.0,0,98,0.00,0.00,-74.07,0.000,2,0.000,0.000,397,1863,3523
$GC,102,-1.35,-146.0,3.9,-9.1,14,126,12.48,2.42,-4.57,0.000,4,0.157,0.054,2603,3240,3797
$GC,335,-1.35,-146.0,34.9,-10.7,55,342,0.00,2.45,0.00,0.000,6,0.000,0.035,2604,1841,3797
$GC,410,-1.35,-146.0,42.7,-10.3,68,416,0.00,2.53,0.00,0.000,4,0.000,0.054,2604,440,3797
$GC,467,-1.35,-146.0,48.8,-10.4,78,474,0.00,2.38,0.00,0.000,6,0.000,0.029,2604,1844,3797
$GC,610,-1.35,-146.0,62.9,-10.1,103,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1848,3797
$GC,751,-1.35,-146.0,77.2,-10.3,128,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1849,3797
$GC,894,-1.35,-146.0,91.6,-10.2,153,900,0.00,2.53,0.00,0.000,4,0.000,0.053,2604,443,3797
$GC,930,-1.35,-146.0,95.3,-10.9,159,935,0.00,2.40,0.00,0.000,6,0.000,0.029,2603,1856,3797
$GC,1073,-1.35,-146.0,109.3,-9.0,184,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1860,3797
$GC,1215,-1.35,-146.0,117.0,-0.3,209,1221,0.00,2.45,0.00,0.000,4,0.000,0.042,2604,3252,3797
$STATE,1293,end dive,NO_VERTICAL_VELOCITY
$STATE,1293,begin apogee
$GC,1302,-0.33,0.0,117.0,0.0,223,1408,1.05,0.00,101.28,0.855,6,0.069,0.000,2829,1892,3285
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1412,1.35,146.0,116.9,0.0,243,1540,1.65,2.55,117.75,0.828,4,0.050,0.041,3201,3303,2689
$GC,1580,1.35,146.0,107.8,10.3,274,1586,0.00,2.47,0.00,0.000,6,0.000,0.036,3201,1899,2689
$GC,1723,1.36,156.8,93.6,9.5,299,1739,0.00,0.00,10.10,0.723,6,0.000,0.000,3201,1899,2645
$GC,1875,1.39,180.1,79.6,8.9,326,1903,0.00,2.62,20.12,0.777,4,0.000,0.054,3201,502,2550
$GC,1932,1.39,180.1,74.0,10.5,336,1938,0.00,2.40,0.00,0.000,6,0.000,0.031,3202,1898,2549
$GC,2074,1.39,180.1,59.3,10.2,361,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1900,2550
$GC,2215,1.41,194.1,45.4,9.4,386,2232,0.00,0.00,12.82,0.744,6,0.000,0.000,3201,1900,2493
$GC,2368,1.41,199.3,30.9,9.8,413,2381,0.00,2.58,6.03,0.637,4,0.000,0.054,3201,489,2471
$GC,2427,1.41,199.3,24.8,10.5,423,2433,0.00,2.42,0.00,0.000,6,0.000,0.031,3201,1904,2471
$GC,2502,1.41,199.3,17.1,10.1,436,2508,0.00,2.47,0.00,0.000,4,0.000,0.044,3201,3303,2471
$GC,2543,1.43,214.5,13.1,9.3,443,2567,0.00,2.47,13.70,0.742,6,0.000,0.037,3201,1898,2409
$GC,2636,1.49,265.3,5.0,7.7,459,2654,0.12,0.00,16.05,0.743,2,0.054,0.000,3238,1899,2331
$STATE,2655,end climb,SURFACE_DEPTH_REACHED
$STATE,2655,begin surface coast
$FINISH,0.1,1.019372
$STATE,2722,end surface coast,CONTROL_FINISHED_OK
$STATE,2722,begin surface
$SM_CCo,2746,91.50,0.743,0,0,1612,410.14
$SM_GC,0.98,0.00,0.00,91.50,0.000,0.000,0.743,399,1840,1612,-11.53,-0.31,410.14
$IRIDIUM_FIX,4850.13,-12602.85,121297,080844
$TT8_MAMPS,0.027612
$HUMID,1953
$INTERNAL_PRESSURE,9.17751
$TCM_TEMP,17.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,110.4,17.8
$24V_AH,23.4,1.998
$10V_AH,10.1,0.834
$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,27.875,39.625,297.850,91.500,0.000,26.622,30.203,91.684,4.250,0.000,0.000,16.164,686.826,846.036,431.694,850.846,281.941,0.000,892.710,0.000,842.746,0.000,18.710
$DEVICE_MAMPS,157.235,83.603,855.205,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.060,525.129,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22240,474
$CAP_FILE_SIZE,47685,0
$CFSIZE,260165632,257359872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170908,100159,4807.954,-12223.590,11,5.1,30,18.3