version: 66.04
glider: 16
mission: 11
dive: 22
start: 1 21 109 13 44 55
data:
$ID,16
$MISSION,11
$DIVE,22
$D_SURF,3
$D_FLARE,4
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,-4
$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,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,656
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2105858.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2325
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3188
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.688643
$PRESSURE_SLOPE,0.0001162269
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,133926,4808.205,-12223.135,9,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.9
$GPS2,134337,4808.222,-12223.147,13,1.0,30,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.098,-0.225
$KALMAN_X,-4294.6,-162.1,-22.0,3880.7,-129.3
$KALMAN_Y,5901.4,285.3,137.3,-7159.8,300.7
$MHEAD_RNG_PITCHd_Wd,137.8,449,-21.0,-8.000
$D_GRID,99
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.40,-76.0,0.0,0.0,0,126,0.00,0.00,-104.50,0.000,6,0.000,0.000,72,2599,3498
$GC,129,-1.46,-135.4,3.3,-3.8,19,155,11.02,2.33,-6.47,0.000,4,0.174,0.077,2000,3764,3741
$GC,202,-1.19,-135.4,9.7,-9.2,31,209,0.35,2.25,0.00,0.000,6,0.126,0.061,2064,2594,3741
$GC,277,-1.19,-135.4,16.4,-8.6,44,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2594,3741
$GC,355,-1.19,-135.4,22.6,-8.0,55,359,0.00,2.30,0.00,0.000,4,0.000,0.064,2064,3770,3741
$GC,418,-1.23,-135.4,27.9,-8.6,60,422,0.00,2.28,0.00,0.000,6,0.000,0.061,2064,2594,3741
$GC,622,-1.39,-141.3,44.2,-7.6,79,628,0.20,2.30,-0.22,0.000,4,0.042,0.077,2004,3765,3765
$GC,881,-1.34,-141.3,70.9,-9.8,92,888,0.15,2.22,0.00,0.000,6,0.112,0.060,2031,2599,3766
$GC,1197,-1.43,-141.3,97.4,-8.3,108,1201,0.00,2.25,0.00,0.000,4,0.000,0.063,2031,3765,3766
$STATE,1216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1217,begin apogee
$GC,1225,-0.31,0.0,99.3,8.0,109,1343,1.12,0.00,114.43,0.616,6,0.121,0.000,2251,2893,3187
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1347,1.47,141.3,100.6,0.0,120,1469,1.83,2.80,112.57,0.598,4,0.070,0.066,2642,1498,2611
$GC,1538,1.17,141.3,67.6,22.6,129,1543,0.32,2.72,0.00,0.000,6,0.104,0.048,2581,2906,2609
$GC,1864,1.02,141.3,10.5,16.0,160,1872,0.17,2.80,0.00,0.000,4,0.104,0.065,2544,1500,2610
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,1.8,1.017951
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1974,345.90,0.541,0,0,513,656.18
$SM_GC,0.97,0.00,0.00,345.90,0.000,0.000,0.541,74,2599,513,-10.35,-0.03,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1849
$TCM_TEMP,17.70
$XPDR_PINGS,9
$24V_AH,23.8,5.611
$10V_AH,10.1,1.995
$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,26.525,28.025,227.000,345.900,0.000,33.225,31.431,81.805,3.750,0.000,0.000,30.157,334.615,907.836,641.585,486.111,244.624,33.334,918.173,0.000,459.451,0.000,13.086,0.000
$DEVICE_MAMPS,174.109,77.467,615.901,540.735,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,116.322,127.847,302.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9687,175
$CAP_FILE_SIZE,32526,0
$CFSIZE,260165632,258732032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,210109,142443,4808.151,-12223.140,12,1.4,29,18.3