version: 66.03
glider: 145
mission: 1
dive: 21
start: 2 12 108 17 36 56
data:
$ID,145
$MISSION,1
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$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,-2663.5747
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,429
$PITCH_MAX,3741
$C_PITCH,2925
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2234
$C_ROLL_CLIMB,2234
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3982
$C_VBD,3475
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.969851
$PRESSURE_SLOPE,0.0001163609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043682093
$SEABIRD_T_H,0.00063645886
$SEABIRD_T_I,2.5728024e-05
$SEABIRD_T_J,2.8812779e-06
$SEABIRD_C_G,-10.192017
$SEABIRD_C_H,1.154353
$SEABIRD_C_I,-0.0017179218
$SEABIRD_C_J,0.00021944837
$GPS1,172045,4806.606,-12222.403,11,1.9,11,18.3
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.5
$GPS2,173559,4806.663,-12222.489,13,99.0,32,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.071,0.286
$KALMAN_X,-2625.0,-153.2,-86.9,5040.8,5.1
$KALMAN_Y,2953.7,152.3,96.7,-5868.2,-33.3
$MHEAD_RNG_PITCHd_Wd,327.7,2556,-14.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,103,0.00,0.00,-83.15,0.000,2,0.000,0.000,429,2226,2791
$GC,105,-1.17,-195.5,3.3,-3.8,11,175,12.50,2.53,-47.60,0.000,4,0.176,0.073,2663,3641,3983
$GC,324,-1.17,-195.5,15.7,-6.8,47,332,0.00,2.42,0.00,0.000,6,0.000,0.047,2663,2242,3983
$GC,400,-1.17,-195.5,20.6,-6.3,60,407,0.00,2.47,0.00,0.000,4,0.000,0.061,2663,3632,3983
$GC,431,-1.17,-195.5,22.7,-7.1,65,439,0.00,2.42,0.00,0.000,6,0.000,0.047,2663,2235,3983
$GC,506,-1.17,-195.5,27.8,-6.8,78,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2234,3983
$GC,584,-1.17,-195.5,33.1,-6.9,91,590,0.00,2.47,0.00,0.000,4,0.000,0.087,2663,3641,3983
$GC,601,-1.17,-195.5,34.5,-6.8,94,609,0.00,2.45,0.00,0.000,6,0.000,0.080,2663,2232,3983
$GC,744,-1.17,-195.5,43.8,-6.8,119,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2231,3983
$GC,882,-1.17,-195.5,53.0,-6.8,144,890,0.00,2.53,0.00,0.000,4,0.000,0.071,2663,826,3983
$GC,903,-1.17,-195.5,54.3,-6.7,147,909,0.00,2.40,0.00,0.000,6,0.000,0.043,2663,2240,3983
$GC,1042,-1.17,-195.5,63.8,-7.0,172,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2240,3983
$GC,1184,-1.17,-195.5,73.6,-7.2,197,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2240,3982
$GC,1323,-1.17,-195.5,82.9,-6.9,222,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2241,3983
$GC,1468,-1.17,-195.5,91.7,-6.1,247,1474,0.00,2.45,0.00,0.000,4,0.000,0.061,2663,3647,3982
$GC,1485,-1.17,-195.5,93.1,-6.7,250,1493,0.00,2.42,0.00,0.000,6,0.000,0.043,2663,2232,3983
$GC,1628,-1.17,-195.5,101.7,-6.1,275,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3983
$STATE,1720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1720,begin apogee
$GC,1724,-0.31,0.0,107.2,5.4,292,1826,0.90,0.00,97.12,0.644,6,0.102,0.000,2852,2232,3475
$STATE,1826,end apogee,CONTROL_FINISHED_OK
$STATE,1826,begin climb
$GC,1828,1.17,195.5,108.5,0.0,308,1987,1.45,2.53,151.93,0.614,4,0.065,0.066,3178,3639,2678
$GC,2023,1.17,195.5,90.6,14.7,339,2029,0.00,2.42,0.00,0.000,6,0.000,0.044,3178,2229,2676
$GC,2160,1.17,195.5,71.2,13.5,364,2169,0.00,2.50,0.00,0.000,4,0.000,0.062,3178,3641,2675
$GC,2182,1.17,195.5,68.4,14.3,367,2188,0.00,2.40,0.00,0.000,6,0.000,0.044,3178,2235,2675
$GC,2319,1.17,195.5,49.4,13.4,392,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2234,2675
$GC,2461,1.17,195.5,31.7,13.0,417,2467,0.00,2.45,0.00,0.000,4,0.000,0.087,3178,3639,2675
$GC,2485,1.17,195.5,28.6,13.1,421,2493,0.00,2.42,0.00,0.000,6,0.000,0.044,3178,2236,2675
$GC,2561,1.17,195.5,18.8,12.6,434,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2236,2675
$GC,2635,1.17,195.5,9.7,11.8,447,2643,0.00,2.47,0.00,0.000,4,0.000,0.057,3178,3637,2675
$GC,2662,1.17,195.5,6.6,11.7,451,2670,0.00,2.42,0.00,0.000,6,0.000,0.061,3178,2235,2675
$GC,2738,1.56,516.3,3.6,-1.1,464,2860,0.35,0.00,118.45,0.555,2,0.047,0.000,3271,2234,2058
$STATE,2861,end climb,SURFACE_DEPTH_REACHED
$STATE,2861,begin surface coast
$FINISH,0.4,1.014622
$STATE,3096,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3096,begin surface
$SM_CCo,3115,157.73,0.547,0,0,1232,550.21
$SM_GC,1.10,0.00,0.00,157.73,0.000,0.000,0.547,428,2231,1232,-11.49,-0.08,550.21
$IRIDIUM_FIX,4748.51,-12221.84,080597,171726
$TT8_MAMPS,0.026078
$HUMID,1136
$INTERNAL_PRESSURE,10.9054
$TCM_TEMP,12.50
$XPDR_PINGS,345
$24V_AH,23.7,2.975
$10V_AH,10.1,2.096
$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,27.625,44.200,367.500,157.725,0.000,78.430,208.576,394.701,87.750,0.000,0.000,34.426,785.361,475.265,521.090,1637.090,785.575,33.320,1163.860,0.000,1629.341,0.000,10.180
$DEVICE_MAMPS,175.643,87.438,644.280,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.041,256.569,363.523,613.546,1292.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41446,523
$CAP_FILE_SIZE,59827,1
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120208,183235,4806.908,-12222.601,10,99.0,30,18.3