version: 66.03
glider: 128
mission: 3
dive: 19
start: 4 17 108 12 55 28
data:
$ID,128
$MISSION,3
$DIVE,19
$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,-96453.359
$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,45
$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
$GPS1,124937,4807.967,-12223.827,13,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.6
$GPS2,125432,4807.953,-12223.827,11,1.5,11,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.213,0.034
$KALMAN_X,-1429.6,40.2,-126.6,1133.6,27.5
$KALMAN_Y,2598.6,-19.2,126.7,-2086.2,-32.7
$MHEAD_RNG_PITCHd_Wd,62.6,1026,-22.4,-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
$STATE,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,36,-1.05,-97.8,0.0,0.0,0,186,0.00,0.00,-146.73,0.000,6,0.000,0.000,56,2045,3580
$GC,192,-1.05,-97.8,3.4,-1.3,28,210,10.30,2.35,0.00,0.000,4,0.205,0.039,2673,648,3584
$GC,349,-1.05,-97.8,11.7,-5.2,55,355,0.00,2.30,0.00,0.000,6,0.000,0.032,2665,2053,3584
$GC,428,-1.05,-97.8,16.3,-6.5,68,434,0.00,2.33,0.00,0.000,4,0.000,0.047,2654,3455,3584
$GC,466,-1.05,-97.8,18.7,-7.0,74,472,0.00,2.25,0.00,0.000,6,0.000,0.028,2654,2040,3584
$GC,546,-1.05,-97.8,23.9,-6.8,83,550,0.00,2.38,0.00,0.000,4,0.000,0.047,2643,3452,3584
$GC,611,-1.05,-97.8,28.7,-7.8,88,616,0.12,2.25,0.00,0.000,6,0.143,0.029,2674,2043,3585
$GC,812,-1.05,-97.8,43.2,-7.3,106,815,0.00,2.28,0.00,0.000,4,0.000,0.041,2673,651,3584
$GC,847,-1.05,-97.8,46.0,-7.6,108,853,0.00,2.25,0.00,0.000,6,0.000,0.032,2666,2053,3584
$GC,1048,-1.05,-97.8,61.1,-7.1,127,1052,0.00,2.30,0.00,0.000,4,0.000,0.048,2655,3448,3584
$GC,1068,-1.05,-97.8,62.6,-7.5,128,1072,0.00,2.22,0.00,0.000,6,0.000,0.029,2655,2046,3584
$GC,1396,-1.05,-97.8,87.1,-7.3,158,1400,0.00,2.33,0.00,0.000,4,0.000,0.048,2644,3457,3584
$GC,1427,-1.05,-97.8,89.5,-7.7,160,1432,0.12,2.22,0.00,0.000,6,0.139,0.029,2675,2042,3584
$STATE,1648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1648,begin apogee
$GC,1661,-0.21,0.0,105.1,6.6,181,1740,0.85,0.00,75.20,0.838,6,0.114,0.000,2943,2211,3181
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1740,begin climb
$GC,1745,1.05,97.8,107.1,0.0,189,1825,1.23,0.00,75.38,0.759,6,0.067,0.000,3350,2211,2782
$GC,2143,1.05,97.8,70.6,10.2,227,2147,0.00,2.35,0.00,0.000,4,0.000,0.049,3350,3603,2780
$GC,2212,1.05,97.8,62.4,11.8,232,2218,0.00,2.25,0.00,0.000,6,0.000,0.030,3361,2204,2780
$GC,2543,1.05,97.8,28.2,10.3,263,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2203,2780
$GC,2751,1.06,103.4,7.5,9.6,293,2763,0.00,2.38,5.35,0.711,4,0.000,0.050,3361,3606,2759
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,2.6,1.023008
$STATE,2804,end surface coast,CONTROL_FINISHED_OK
$STATE,2804,begin surface
$SM_CCo,2834,229.00,0.700,0,0,735,600.00
$SM_GC,1.37,0.00,0.00,229.00,0.000,0.000,0.700,54,2037,735,-9.25,-0.28,600.00
$IRIDIUM_FIX,4751.72,-12340.51,120797,121250
$TT8_MAMPS,0.026845
$HUMID,1618
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,40.6
$24V_AH,24.3,3.022
$10V_AH,10.7,4.830
$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,22.050,37.275,155.925,229.000,0.000,23.000,42.977,105.184,0.250,0.000,0.000,13.022,495.586,1355.312,503.389,609.132,408.795,33.323,833.683,0.000,626.848,0.000,2.508
$DEVICE_MAMPS,204.789,49.855,838.331,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,214.745,0.000,509.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12782,302
$CAP_FILE_SIZE,38088,0
$CFSIZE,260165632,227315712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170408,134733,4807.904,-12223.454,12,1.4,12,18.3