version: 66.03
glider: 128
mission: 3
dive: 18
start: 4 17 108 11 56 5
data:
$ID,128
$MISSION,3
$DIVE,18
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$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,40
$T_MISSION,60
$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,100
$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,600
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-96439.703
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,41
$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
$GPS1,113659,4807.993,-12224.155,11,3.6,30,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.6
$GPS2,115509,4808.055,-12224.149,13,1.7,13,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.215,-0.014
$KALMAN_X,-1383.7,17.1,-116.0,701.8,16.0
$KALMAN_Y,2670.6,48.3,114.1,-2028.0,-3.8
$MHEAD_RNG_PITCHd_Wd,75.4,1424,-22.4,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-1.05,-97.8,0.0,0.0,0,160,0.00,0.00,-120.75,0.000,6,0.000,0.000,55,2028,3580
$GC,165,-1.05,-97.8,3.7,-3.3,23,184,10.30,2.40,0.00,0.000,4,0.202,0.044,2660,3440,3584
$GC,492,-1.05,-97.8,21.4,-6.3,78,498,0.00,2.22,0.00,0.000,6,0.000,0.029,2660,2047,3585
$GC,692,-1.05,-97.8,35.4,-7.3,97,696,0.00,2.35,0.00,0.000,4,0.000,0.047,2649,3444,3585
$GC,773,-1.05,-97.8,42.1,-7.9,103,779,0.00,2.25,0.00,0.000,6,0.000,0.029,2648,2038,3586
$GC,974,-1.05,-97.8,58.0,-7.8,122,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2038,3585
$GC,1306,-1.05,-97.8,83.0,-7.2,153,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2038,3585
$STATE,1577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1577,begin apogee
$GC,1589,-0.21,0.0,103.2,7.3,179,1668,0.95,0.00,75.68,0.848,6,0.123,0.000,2942,2210,3181
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1674,1.05,97.8,105.4,0.0,187,1761,1.23,2.53,75.45,0.766,4,0.069,0.048,3348,3598,2780
$GC,1777,1.05,99.3,98.9,9.9,197,1781,0.00,2.35,0.00,0.000,6,0.000,0.029,3359,2208,2781
$GC,2109,1.05,99.3,63.4,10.7,227,2113,0.00,2.38,0.00,0.000,4,0.000,0.049,3359,3597,2779
$GC,2132,1.05,99.3,60.1,11.0,228,2139,0.00,2.28,0.00,0.000,6,0.000,0.029,3369,2196,2779
$GC,2465,1.05,99.3,25.4,10.1,259,2469,0.00,2.38,0.00,0.000,4,0.000,0.050,3370,3604,2779
$GC,2513,1.05,99.3,19.7,11.1,263,2519,0.00,2.28,0.00,0.000,6,0.000,0.029,3380,2202,2779
$GC,2591,1.06,101.8,11.4,9.8,276,2598,0.00,0.00,4.50,0.650,6,0.000,0.000,3380,2201,2766
$GC,2669,1.06,101.8,3.6,10.0,289,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2201,2766
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,2.7,1.021464
$STATE,2715,end surface coast,CONTROL_FINISHED_OK
$STATE,2716,begin surface
$SM_CCo,2722,297.12,0.693,0,0,204,730.26
$SM_GC,1.05,9.70,0.00,0.00,0.037,0.000,0.000,56,2045,198,-9.19,-0.06,731.73
$IRIDIUM_FIX,4751.72,-12340.51,120797,111110
$TT8_MAMPS,0.026078
$HUMID,1633
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,31.5
$24V_AH,24.2,2.932
$10V_AH,10.7,4.789
$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,22.175,23.900,155.625,297.125,0.000,101.666,254.719,415.280,1.000,0.000,0.000,14.710,484.160,1589.340,553.546,597.601,1013.502,33.327,864.772,0.000,607.462,0.000,8.591
$DEVICE_MAMPS,202.488,49.855,848.302,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,211.091,0.000,501.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12769,297
$CAP_FILE_SIZE,42126,0
$CFSIZE,260165632,227340288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170408,124937,4807.967,-12223.827,13,1.4,30,18.3