version: 66.03
glider: 128
mission: 3
dive: 1
start: 4 16 108 17 56 51
data:
$ID,128
$MISSION,3
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,250
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51171
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,720
$N_FILEKB,8
$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,-95875.617
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,2908
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2047
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3181
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-12.587764
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,175214,4807.624,-12223.472,5,2.0,5,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.7
$GPS2,175556,4807.620,-12223.517,15,1.7,15,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,0.193
$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,23.9,950,-18.2,-10.000
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-1.19,-146.6,0.0,0.0,0,156,0.00,0.00,-120.47,0.000,2,0.000,0.000,60,2047,2719
$GC,161,-1.19,-146.6,3.1,-7.3,23,202,9.48,2.30,-23.05,0.000,4,0.202,0.058,2510,3425,3582
$GC,223,-1.19,-146.6,9.0,-8.5,33,229,0.00,2.20,0.00,0.000,6,0.000,0.028,2510,2038,3583
$GC,300,-1.19,-146.6,12.2,-2.2,46,306,0.00,2.22,0.00,0.000,4,0.000,0.039,2510,653,3584
$GC,361,-1.19,-146.6,13.3,-2.8,56,367,0.00,2.20,0.00,0.000,6,0.000,0.030,2501,2031,3584
$GC,439,-1.19,-146.6,16.4,-5.9,69,445,0.00,2.30,0.00,0.000,4,0.000,0.043,2490,3459,3585
$GC,454,-1.19,-146.6,17.5,-6.3,71,461,0.12,2.20,0.00,0.000,6,0.163,0.027,2518,2042,3585
$GC,531,-1.19,-146.6,22.4,-6.7,81,535,0.00,2.22,0.00,0.000,4,0.000,0.038,2518,652,3584
$GC,586,-1.19,-146.6,27.1,-9.2,85,590,0.00,2.22,0.00,0.000,6,0.000,0.030,2510,2050,3585
$STATE,781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,781,begin apogee
$GC,792,-0.28,0.0,45.9,10.2,103,889,1.00,0.00,90.60,0.873,6,0.140,0.000,2811,2050,3184
$STATE,890,end apogee,CONTROL_FINISHED_OK
$STATE,890,begin climb
$GC,895,1.19,146.6,50.7,0.0,113,1024,1.50,2.50,117.12,0.839,4,0.091,0.044,3283,3456,2583
$GC,1059,1.20,150.3,41.0,9.8,128,1068,0.00,2.30,4.82,0.634,6,0.000,0.028,3294,2059,2568
$GC,1270,1.20,155.8,20.3,9.7,148,1282,0.00,2.35,5.93,0.716,4,0.000,0.044,3294,3457,2546
$GC,1292,1.22,166.7,18.1,9.5,150,1310,0.00,2.28,10.57,0.815,6,0.000,0.028,3304,2036,2500
$GC,1381,1.22,166.7,9.2,10.6,165,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2036,2504
$GC,1458,1.42,334.3,5.3,2.3,178,1562,0.15,2.53,97.82,0.873,4,0.058,0.044,3383,3445,1817
$STATE,1605,end climb,SURFACE_DEPTH_REACHED
$STATE,1606,begin surface coast
$FINISH,2.0,1.018722
$STATE,1757,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1757,begin surface
$SM_CCo,1786,187.98,0.808,0,0,247,720.20
$SM_GC,1.13,0.00,0.00,187.98,0.000,0.000,0.808,54,2034,247,-8.92,-0.40,720.20
$IRIDIUM_FIX,4751.72,-12340.51,110797,171709
$TT8_MAMPS,0.026078
$HUMID,1602
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,15.90
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,27.1,27.8
$24V_AH,24.3,0.814
$10V_AH,10.8,4.005
$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,21.775,32.150,326.875,187.975,0.000,0.000,0.000,0.000,4.250,0.000,0.000,16.507,340.303,525.516,577.792,471.815,145.395,29.236,892.449,0.000,477.281,0.000,2.493
$DEVICE_MAMPS,202.488,57.525,872.846,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,162.891,0.000,390.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9671,231
$CAP_FILE_SIZE,52011,0
$CFSIZE,260165632,227815424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160408,183045,4807.694,-12223.448,10,1.8,10,18.3