version: 66.07
glider: 33
mission: 23
dive: 19
start: 8 27 110 14 3 43
data:
$ID,33
$MISSION,23
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,6099
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,13
$HD_A,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-231218.34
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,340
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2682
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.047844
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,270810,135758,4807.342,-12223.325,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.0
$GPS2,270810,140301,4807.384,-12223.341,39,1.7,39,18.3
$SPEED_LIMITS,0.100,0.336
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.123,0.312
$KALMAN_X,-1301.0,0.0,0.0,-146.5,-7.8
$KALMAN_Y,870.7,0.0,0.0,807.5,20.4
$MHEAD_RNG_PITCHd_Wd,3.2,1217,-13.7,-10.000
$D_GRID,105
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.22,-293.3,0.0,0.0,0,76,0.00,0.00,-58.50,0.000,2,0.000,0.000,22,1912,1873,0,0,0,0,0,0
$GC,78,-1.22,-293.3,3.1,-4.3,10,190,7.12,2.83,-93.25,0.000,4,0.191,0.104,1376,3303,3676,0,0,0,0,0,0
$GC,391,-1.19,-293.3,36.4,-11.6,53,399,0.00,2.70,0.00,0.000,6,0.000,0.089,1376,1901,3676,0,0,0,0,0,0
$GC,525,-1.15,-293.3,52.9,-12.4,66,531,0.10,2.72,0.00,0.000,4,0.154,0.102,1395,484,3676,0,0,0,0,0,0
$GC,554,-1.13,-293.3,56.3,-11.2,68,559,0.00,2.70,0.00,0.000,6,0.000,0.089,1396,1902,3676,0,0,0,0,0,0
$GC,687,-1.13,-293.3,71.8,-11.5,80,692,0.00,2.80,0.00,0.000,4,0.000,0.112,1396,3318,3676,0,0,0,0,0,0
$GC,717,-1.13,-293.3,75.6,-12.4,82,726,0.00,2.78,0.00,0.000,6,0.000,0.092,1395,1902,3676,0,0,0,0,0,0
$GC,853,-1.13,-293.3,90.8,-12.0,95,857,0.00,2.75,0.00,0.000,4,0.000,0.104,1395,482,3676,0,0,0,0,0,0
$GC,902,-1.13,-293.3,96.7,-12.6,99,907,0.00,2.70,0.00,0.000,6,0.000,0.089,1395,1899,3677,0,0,0,0,0,0
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,982,begin apogee
$GC,985,-0.31,0.0,105.9,11.5,106,1195,0.82,0.00,204.23,0.837,6,0.114,0.000,1581,1746,2682,0,0,0,0,0,0
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1197,1.22,293.3,118.0,0.0,127,1417,1.42,3.00,206.80,0.814,4,0.089,0.114,1912,3159,1687,0,0,1,0,0,0
$GC,1432,1.34,396.4,114.9,7.6,148,1517,0.10,2.88,75.32,0.790,6,0.072,0.094,1951,1757,1339,0,0,1,0,0,0
$GC,1643,1.30,396.4,89.8,12.0,168,1647,0.00,2.88,0.00,0.000,4,0.000,0.112,1951,3162,1338,0,0,0,0,0,0
$GC,1760,1.26,396.4,74.9,12.3,178,1765,0.15,2.78,0.00,0.000,6,0.154,0.097,1924,1746,1337,0,0,0,0,0,0
$GC,1893,1.26,396.4,59.8,11.3,190,1898,0.00,2.75,0.00,0.000,4,0.000,0.107,1923,338,1337,0,0,0,0,0,0
$GC,1992,1.23,396.4,48.0,12.0,198,2000,0.00,2.75,0.00,0.000,6,0.000,0.092,1923,1755,1336,0,0,1,0,0,0
$GC,2126,1.23,396.4,33.6,10.3,211,2131,0.00,2.80,0.00,0.000,4,0.000,0.107,1923,332,1336,0,0,0,0,0,0
$GC,2188,1.21,396.4,26.9,10.6,216,2193,0.00,2.72,0.00,0.000,6,0.000,0.094,1923,1748,1336,0,0,1,0,0,0
$GC,2324,1.22,405.0,13.3,9.8,234,2338,0.00,2.85,7.43,0.656,4,0.000,0.107,1923,339,1309,0,0,0,0,0,0
$GC,2400,1.22,405.0,5.6,10.2,247,2407,0.00,2.70,0.00,0.000,6,0.000,0.092,1923,1757,1309,0,0,1,0,0,0
$STATE,2423,end climb,SURFACE_DEPTH_REACHED
$STATE,2423,begin surface coast
$FINISH,2.1,1.019466
$STATE,2498,end surface coast,CONTROL_FINISHED_OK
$STATE,2498,begin surface
$SM_CCo,2512,31.30,0.752,0,0,1157,450.22
$SM_GC,3.18,0.00,0.00,31.30,0.000,0.000,0.752,20,1914,1157,-7.50,0.40,450.22
$IRIDIUM_FIX,4748.51,-12221.84,270810,131304
$TT8_MAMPS,0.021721
$HUMID,54.25
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,24.4,40.192
$10V_AH,10.3,14.065
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.650,50.700,493.775,31.300,0.000,40.810,53.971,116.286,2.750,0.000,40.544,562.764,877.919,593.175,792.667,57.877,0.466,970.855,0.000,510.652,0.000,17.944,0.000
$DEVICE_MAMPS,191.191,116.701,836.771,752.349,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.229,0.000,403.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,13527,264
$CAP_FILE_SIZE,50480,0
$CFSIZE,260280320,250748928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,270810,144719,4807.639,-12223.250,33,1.3,39,18.3