version: 66.04
glider: 16
mission: 11
dive: 13
start: 1 21 109 6 45 29
data:
$ID,16
$MISSION,11
$DIVE,13
$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,50
$T_MISSION,60
$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,-2105684.5
$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,2300
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,15
$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,4
$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
$GPS1,064043,4808.078,-12223.054,9,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.4
$GPS2,064408,4808.100,-12223.060,13,1.9,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.126,-0.155
$KALMAN_X,-1902.1,-324.5,-51.9,1788.8,-187.0
$KALMAN_Y,1197.7,347.1,68.8,-2675.1,139.2
$MHEAD_RNG_PITCHd_Wd,140.0,199,-27.9,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.81,-62.0,0.0,0.0,0,115,0.00,0.00,-96.10,0.000,6,0.000,0.000,71,2156,3442
$GC,119,-1.86,-109.0,3.9,-4.9,17,144,10.60,3.10,-4.88,0.000,4,0.176,0.082,1915,3710,3634
$GC,304,-1.58,-109.0,21.9,-11.8,48,310,0.35,2.80,0.00,0.000,6,0.141,0.068,1977,2292,3634
$GC,502,-1.63,-109.0,42.9,-10.0,66,507,0.00,2.83,0.00,0.000,4,0.000,0.074,1976,3715,3634
$GC,659,-1.63,-109.0,59.3,-10.4,76,663,0.00,2.80,0.00,0.000,6,0.000,0.069,1977,2294,3634
$GC,982,-1.74,-122.0,88.5,-8.6,92,988,0.15,2.83,-0.35,0.000,4,0.050,0.084,1936,3715,3689
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1118,-0.31,0.0,103.0,11.3,99,1225,1.67,0.00,99.32,0.622,6,0.137,0.000,2251,2592,3187
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1229,1.88,122.0,104.5,0.0,110,1336,2.20,0.00,97.88,0.606,6,0.069,0.000,2735,2592,2689
$GC,1654,1.59,122.0,3.7,19.8,146,1661,0.30,2.35,0.00,0.000,4,0.120,0.071,2676,3772,2688
$STATE,1665,end climb,SURFACE_DEPTH_REACHED
$STATE,1665,begin surface coast
$FINISH,3.1,1.017485
$STATE,1689,end surface coast,CONTROL_FINISHED_OK
$STATE,1689,begin surface
$SM_CCo,1692,428.88,0.548,0,0,509,657.16
$SM_GC,1.75,11.55,0.00,0.00,0.039,0.000,0.000,76,2292,503,-10.29,-0.23,658.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.8,4.686
$10V_AH,10.1,1.713
$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,26.825,21.975,197.200,428.875,0.000,18.046,23.584,83.787,1.750,0.000,0.000,13.114,294.368,905.921,696.529,380.304,211.804,33.319,921.547,0.000,374.053,0.000,11.808,0.000
$DEVICE_MAMPS,175.643,83.603,622.037,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,101.415,112.776,262.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6530,152
$CAP_FILE_SIZE,26929,0
$CFSIZE,260165632,258932736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,210109,072416,4808.082,-12223.032,32,2.4,51,18.3