version: 66.03
glider: 128
mission: 3
dive: 21
start: 4 17 108 15 3 49
data:
$ID,128
$MISSION,3
$DIVE,21
$D_SURF,3
$D_FLARE,5
$D_TGT,60
$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,20
$T_MISSION,40
$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,-96504.516
$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,51
$R_STBD_OVSHOOT,39
$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
$GPS1,145015,4807.871,-12223.128,37,2.5,56,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.0
$GPS2,150250,4807.753,-12223.153,29,1.8,29,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,0.213
$KALMAN_X,-1458.1,68.5,-92.3,1930.6,24.5
$KALMAN_Y,2188.7,-153.1,53.4,-1836.5,-93.3
$MHEAD_RNG_PITCHd_Wd,351.4,495,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,32,-1.05,-97.8,0.0,0.0,0,155,0.00,0.00,-118.35,0.000,6,0.000,0.000,50,2032,3580
$GC,161,-1.05,-97.8,3.1,-1.9,23,179,10.35,2.42,0.00,0.000,4,0.206,0.045,2659,3442,3584
$GC,334,-1.05,-97.8,10.3,-4.9,52,340,0.00,2.28,0.00,0.000,6,0.000,0.029,2659,2052,3584
$GC,411,-1.05,-97.8,14.3,-4.9,65,418,0.00,2.33,0.00,0.000,4,0.000,0.041,2658,658,3584
$GC,433,-1.05,-97.8,15.4,-5.0,68,439,0.00,2.25,0.00,0.000,6,0.000,0.032,2649,2051,3584
$GC,511,-1.05,-97.8,20.4,-6.5,81,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2051,3584
$GC,712,-1.05,-97.8,35.2,-7.6,100,716,0.00,2.30,0.00,0.000,4,0.000,0.048,2638,3449,3584
$GC,731,-1.05,-97.8,36.9,-7.6,101,738,0.08,2.28,0.00,0.000,6,0.137,0.029,2672,2037,3584
$GC,932,-1.05,-97.8,50.9,-7.0,120,936,0.00,2.38,0.00,0.000,4,0.000,0.048,2662,3454,3585
$GC,980,-1.05,-97.8,54.4,-7.4,123,987,0.00,2.22,0.00,0.000,6,0.000,0.029,2663,2053,3584
$STATE,1058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1058,begin apogee
$GC,1069,-0.21,0.0,60.6,7.4,131,1148,0.90,0.00,75.43,0.805,6,0.118,0.000,2941,2206,3181
$STATE,1149,end apogee,CONTROL_FINISHED_OK
$STATE,1149,begin climb
$GC,1155,1.05,97.8,62.5,0.0,139,1234,1.23,0.00,75.30,0.736,6,0.067,0.000,3348,2206,2782
$GC,1553,1.05,97.8,26.1,10.5,177,1557,0.00,2.38,0.00,0.000,4,0.000,0.048,3348,3610,2780
$GC,1624,1.05,97.8,18.5,11.2,183,1630,0.00,2.28,0.00,0.000,6,0.000,0.029,3359,2198,2780
$GC,1701,1.05,97.8,10.2,10.8,196,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2197,2781
$STATE,1773,end climb,SURFACE_DEPTH_REACHED
$STATE,1773,begin surface coast
$FINISH,1.6,1.019638
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1841,224.73,0.696,0,0,735,600.00
$SM_GC,1.22,0.00,0.00,224.73,0.000,0.000,0.696,55,2032,735,-9.25,-0.42,600.00
$IRIDIUM_FIX,4751.72,-12340.51,120797,151500
$TT8_MAMPS,0.026078
$HUMID,1616
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,35.2,6.4
$24V_AH,24.3,3.218
$10V_AH,10.7,4.910
$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,22.025,23.575,150.725,224.725,0.000,84.019,197.514,203.999,0.250,0.000,0.000,31.019,358.967,855.140,475.561,451.721,695.711,33.354,728.638,0.000,444.759,0.000,2.459
$DEVICE_MAMPS,205.556,48.321,805.350,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,152.974,0.000,364.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9714,216
$CAP_FILE_SIZE,34242,0
$CFSIZE,260165632,227266560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,153915,4807.819,-12223.106,10,1.9,10,18.3