version: 66.03
glider: 128
mission: 3
dive: 22
start: 4 17 108 15 44 59
data:
$ID,128
$MISSION,3
$DIVE,22
$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,-96517.695
$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,48
$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
$GPS1,153915,4807.819,-12223.106,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.7
$GPS2,154403,4807.773,-12223.104,11,1.9,11,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,0.215
$KALMAN_X,-1462.0,69.4,-69.4,1973.1,27.4
$KALMAN_Y,2089.7,-193.6,0.7,-1609.9,-101.7
$MHEAD_RNG_PITCHd_Wd,346.3,439,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,36,-1.05,-97.8,0.0,0.0,0,164,0.00,0.00,-123.97,0.000,6,0.000,0.000,55,2031,3580
$GC,170,-1.05,-97.8,2.8,0.4,24,188,10.38,2.42,0.00,0.000,4,0.206,0.046,2664,3443,3584
$GC,260,-1.05,-97.8,6.9,-4.5,39,266,0.00,2.28,0.00,0.000,6,0.000,0.029,2664,2042,3584
$GC,337,-1.05,-97.8,10.9,-5.5,52,343,0.00,2.30,0.00,0.000,4,0.000,0.041,2664,655,3584
$GC,388,-1.05,-97.8,13.5,-5.3,60,394,0.00,2.28,0.00,0.000,6,0.000,0.032,2655,2059,3584
$GC,466,-1.05,-97.8,18.2,-6.8,73,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2059,3584
$GC,541,-1.05,-97.8,23.3,-7.0,82,545,0.00,2.33,0.00,0.000,4,0.000,0.048,2643,3454,3584
$GC,565,-1.05,-97.8,25.2,-7.1,83,572,0.12,2.25,0.00,0.000,6,0.142,0.028,2674,2034,3585
$GC,766,-1.05,-97.8,38.6,-6.5,102,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2033,3585
$GC,968,-1.05,-97.8,52.3,-7.0,121,972,0.00,2.38,0.00,0.000,4,0.000,0.048,2665,3453,3584
$GC,1037,-1.05,-97.8,57.8,-7.5,126,1044,0.00,2.25,0.00,0.000,6,0.000,0.029,2665,2057,3585
$STATE,1073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1073,begin apogee
$GC,1085,-0.21,0.0,60.8,7.5,130,1164,0.90,0.00,75.32,0.799,6,0.119,0.000,2942,2210,3181
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1170,1.05,97.8,63.0,0.0,138,1254,1.23,0.00,75.22,0.738,6,0.067,0.000,3350,2210,2781
$GC,1575,1.06,100.6,26.9,9.8,176,1579,0.00,2.35,0.00,0.000,4,0.000,0.050,3350,3598,2780
$GC,1629,1.06,100.6,20.9,11.2,180,1633,0.00,2.28,0.00,0.000,6,0.000,0.029,3361,2197,2779
$STATE,1805,end climb,SURFACE_DEPTH_REACHED
$STATE,1805,begin surface coast
$FINISH,2.6,1.020923
$STATE,1850,end surface coast,CONTROL_FINISHED_OK
$STATE,1850,begin surface
$SM_CCo,1878,232.02,0.700,0,0,734,600.00
$SM_GC,1.42,0.00,0.00,232.02,0.000,0.000,0.700,54,2022,734,-9.26,-0.71,600.00
$IRIDIUM_FIX,4751.72,-12340.51,120797,151524
$TT8_MAMPS,0.026078
$HUMID,1611
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,35.2,6.5
$24V_AH,24.3,3.305
$10V_AH,10.7,4.942
$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,22.275,23.575,150.550,232.025,0.000,32.027,40.732,95.171,0.250,0.000,0.000,12.545,366.540,746.307,478.945,453.179,368.920,33.325,744.131,0.000,461.494,0.000,2.459
$DEVICE_MAMPS,206.323,49.855,799.214,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,154.345,0.000,367.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9681,218
$CAP_FILE_SIZE,30516,0
$CFSIZE,260165632,227250176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,162237,4807.844,-12223.032,93,1.0,99,18.3