version: 66.03
glider: 135
mission: 3
dive: 26
start: 10 15 108 17 9 29
data:
$ID,135
$MISSION,3
$DIVE,26
$D_SURF,2
$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,67
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51534
$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,350
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-54141.691
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,297
$PITCH_MAX,3602
$C_PITCH,2629
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,1880
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3488
$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,-1.4818608
$PRESSURE_SLOPE,0.0001160407
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043517081
$SEABIRD_T_H,0.00062974833
$SEABIRD_T_I,2.2138849e-05
$SEABIRD_T_J,2.0892944e-06
$SEABIRD_C_G,-10.077255
$SEABIRD_C_H,1.150473
$SEABIRD_C_I,-0.0014102412
$SEABIRD_C_J,0.00013196058
$GPS1,170247,4807.302,-12222.998,8,3.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-68.5
$GPS2,170905,4807.306,-12223.000,11,5.4,30,18.3
$SPEED_LIMITS,0.129,0.197
$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,341.7,1286,-16.6,-7.463
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.16,-97.8,0.0,0.0,0,91,0.00,0.00,-68.68,0.000,6,0.000,0.000,299,1876,3887
$GC,94,-1.16,-97.8,3.8,-6.3,13,113,12.00,2.75,0.00,0.000,4,0.158,0.085,2371,3297,3888
$GC,354,-1.16,-97.8,26.1,-6.7,73,360,0.00,2.70,0.00,0.000,6,0.000,0.080,2371,1881,3889
$GC,426,-1.16,-97.8,30.4,-5.8,89,433,0.00,2.72,0.00,0.000,4,0.000,0.084,2371,3297,3889
$GC,656,-1.16,-97.8,46.4,-6.9,142,662,0.00,2.67,0.00,0.000,6,0.000,0.081,2372,1882,3889
$GC,802,-1.16,-97.8,55.2,-5.9,173,808,0.00,2.60,0.00,0.000,4,0.000,0.066,2371,468,3889
$GC,904,-1.16,-97.8,62.4,-7.5,195,910,0.00,2.50,0.00,0.000,6,0.000,0.042,2371,1892,3889
$GC,1046,-1.16,-97.8,71.2,-6.2,226,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1892,3889
$GC,1189,-1.16,-97.8,79.3,-5.6,257,1195,0.00,2.67,0.00,0.000,4,0.000,0.089,2371,3285,3888
$GC,1265,-1.16,-97.8,84.0,-6.3,273,1271,0.00,2.70,0.00,0.000,6,0.000,0.085,2371,1875,3889
$GC,1408,-1.16,-97.8,92.3,-5.6,304,1415,0.00,2.60,0.00,0.000,4,0.000,0.067,2371,463,3888
$GC,1444,-1.16,-97.8,94.6,-6.1,311,1450,0.00,2.50,0.00,0.000,6,0.000,0.043,2371,1880,3888
$GC,1588,-1.16,-97.8,102.7,-5.6,342,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1880,3889
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1671,-0.31,0.0,107.0,5.3,359,1757,0.90,0.00,78.18,0.704,6,0.087,0.000,2555,2144,3488
$STATE,1758,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1760,1.16,97.8,107.9,0.0,375,1847,1.50,2.65,77.70,0.689,4,0.061,0.064,2875,728,3089
$GC,1858,1.16,97.8,101.3,8.9,393,1864,0.00,2.55,0.00,0.000,6,0.000,0.046,2875,2150,3089
$GC,2002,1.16,97.8,86.6,10.3,424,2008,0.00,2.62,0.00,0.000,4,0.000,0.064,2875,735,3089
$GC,2014,1.16,97.8,85.0,10.6,426,2021,0.00,2.55,0.00,0.000,6,0.000,0.045,2875,2155,3089
$GC,2160,1.16,97.8,69.9,10.3,457,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2155,3089
$GC,2301,1.16,97.8,55.5,9.8,488,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2155,3089
$GC,2444,1.16,97.8,41.7,9.7,519,2450,0.00,2.62,0.00,0.000,4,0.000,0.062,2875,727,3089
$GC,2465,1.16,97.8,39.4,10.0,523,2472,0.00,2.55,0.00,0.000,6,0.000,0.044,2874,2142,3089
$GC,2536,1.16,97.8,32.4,9.9,539,2543,0.00,2.62,0.00,0.000,4,0.000,0.063,2875,733,3089
$GC,2549,1.16,97.8,31.0,9.6,541,2556,0.00,2.55,0.00,0.000,6,0.000,0.044,2875,2147,3089
$GC,2623,1.16,97.8,23.8,9.9,557,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2148,3089
$GC,2693,1.16,97.8,17.4,8.9,573,2699,0.00,2.58,0.00,0.000,4,0.000,0.062,2875,734,3089
$GC,2706,1.16,97.8,16.2,9.1,575,2712,0.00,2.53,0.00,0.000,6,0.000,0.044,2875,2152,3089
$GC,2778,1.16,97.8,10.0,8.4,591,2784,0.00,2.72,0.00,0.000,4,0.000,0.091,2874,3559,3090
$GC,2799,1.16,97.8,8.4,7.7,595,2806,0.00,2.70,0.00,0.000,6,0.000,0.083,2875,2160,3089
$GC,2871,1.22,146.7,4.5,4.9,611,2917,0.00,2.65,38.85,0.629,4,0.000,0.062,2874,731,2890
$STATE,2935,end climb,SURFACE_DEPTH_REACHED
$STATE,2935,begin surface coast
$FINISH,0.8,1.020062
$STATE,2991,end surface coast,CONTROL_FINISHED_OK
$STATE,2991,begin surface
$SM_CCo,3014,105.80,0.613,0,0,2061,350.04
$SM_GC,0.29,0.00,0.00,105.80,0.000,0.000,0.613,295,1902,2061,-10.74,0.62,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,161618
$TT8_MAMPS,0.029146
$HUMID,1867
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,18.10
$XPDR_PINGS,3
$24V_AH,23.6,2.452
$10V_AH,10.1,1.410
$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,26.250,62.900,194.725,105.800,0.000,30.569,26.869,189.374,0.750,0.000,0.000,32.392,969.000,566.948,391.502,1091.208,496.042,0.000,947.497,0.000,1167.361,0.000,0.472
$DEVICE_MAMPS,158.002,91.273,704.106,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.936,733.823,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28462,636
$CAP_FILE_SIZE,60857,0
$CFSIZE,260165632,257769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151008,180215,4807.480,-12222.858,8,1.7,8,18.3