version: 66.04
glider: 105
mission: 5
dive: 19
start: 1 21 109 17 1 35
data:
$ID,105
$MISSION,5
$DIVE,19
$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,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$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,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,668
$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,-1627063.4
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2602
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.710485
$PRESSURE_SLOPE,0.0001163108
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,165650,4808.033,-12223.958,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.1
$GPS2,170044,4808.022,-12223.947,13,1.7,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.238,0.060
$KALMAN_X,-550.6,310.5,143.8,-811.5,50.5
$KALMAN_Y,-5.2,-386.6,-127.7,-31.7,-255.5
$MHEAD_RNG_PITCHd_Wd,57.7,1172,-14.8,-8.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.24,-146.6,0.0,0.0,0,125,0.00,0.00,-105.03,0.000,6,0.000,0.000,398,1942,3836
$GC,129,-1.24,-146.6,3.7,-5.8,18,144,10.62,2.50,0.00,0.000,4,0.148,0.040,2326,545,3836
$GC,414,-1.24,-146.6,34.0,-8.6,55,418,0.00,2.42,0.00,0.000,6,0.000,0.028,2326,1962,3837
$GC,614,-1.24,-146.6,50.7,-8.1,73,618,0.00,2.45,0.00,0.000,4,0.000,0.044,2326,3348,3837
$GC,654,-1.24,-146.6,54.1,-8.0,75,658,0.00,2.38,0.00,0.000,6,0.000,0.026,2326,1942,3837
$GC,980,-1.24,-146.6,79.4,-7.5,91,985,0.00,2.47,0.00,0.000,4,0.000,0.044,2326,3342,3837
$GC,1024,-1.24,-146.6,82.6,-7.8,93,1029,0.00,2.38,0.00,0.000,6,0.000,0.026,2326,1937,3837
$GC,1344,-1.24,-146.6,107.1,-7.8,112,1348,0.00,2.50,0.00,0.000,4,0.000,0.045,2326,3342,3837
$GC,1383,-1.24,-146.6,110.2,-8.4,115,1388,0.00,2.40,0.00,0.000,6,0.000,0.027,2326,1945,3838
$STATE,1403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1403,begin apogee
$GC,1409,-0.36,0.0,112.0,8.0,117,1536,0.93,0.00,117.90,0.802,6,0.086,0.000,2518,2155,3239
$STATE,1537,end apogee,CONTROL_FINISHED_OK
$STATE,1537,begin climb
$GC,1539,1.24,146.6,114.2,0.0,130,1667,1.62,0.00,117.88,0.767,6,0.061,0.000,2868,2155,2641
$GC,1980,1.24,146.6,73.3,10.4,161,1985,0.00,2.47,0.00,0.000,4,0.000,0.041,2868,757,2640
$GC,2008,1.24,146.6,69.9,11.2,162,2012,0.00,2.40,0.00,0.000,6,0.000,0.030,2868,2145,2639
$GC,2328,1.24,146.6,37.5,10.0,182,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2145,2639
$GC,2518,1.24,146.6,20.0,9.0,200,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2145,2639
$GC,2591,1.24,146.6,13.6,8.4,213,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2145,2640
$GC,2666,1.24,146.6,7.5,8.2,226,2672,0.00,2.45,0.00,0.000,4,0.000,0.041,2868,753,2639
$GC,2706,1.25,156.6,4.4,7.6,233,2721,0.00,2.42,9.32,0.653,6,0.000,0.029,2868,2148,2600
$STATE,2731,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$FINISH,1.6,1.019304
$STATE,2783,end surface coast,CONTROL_FINISHED_OK
$STATE,2783,begin surface
$SM_CCo,2804,395.05,0.699,0,0,515,668.20
$SM_GC,0.97,0.00,0.00,395.05,0.000,0.000,0.699,397,1932,515,-10.14,-0.40,668.20
$IRIDIUM_FIX,4748.51,-12221.84,170498,161619
$TT8_MAMPS,0.026845
$HUMID,1676
$INTERNAL_PRESSURE,7.99183
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,31.2
$24V_AH,23.5,17.292
$10V_AH,10.1,6.970
$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,24.275,29.875,245.100,395.050,0.000,30.425,25.240,88.956,1.500,0.000,0.000,13.699,412.704,1479.546,708.844,505.223,344.824,33.316,1022.064,0.000,590.540,0.000,12.936,0.000
$DEVICE_MAMPS,148.031,45.253,802.282,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,170.522,235.383,437.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12889,246
$CAP_FILE_SIZE,35883,0
$CFSIZE,260165632,258682880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210109,175604,4808.206,-12223.537,9,2.6,28,18.3