version: 66.04
glider: 146
mission: 4
dive: 22
start: 3 4 109 17 11 55
data:
$ID,146
$MISSION,4
$DIVE,22
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,52003
$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,2100
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-26805.846
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3041
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3488
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.713232
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042941761
$SEABIRD_T_H,0.00062839256
$SEABIRD_T_I,2.3269764e-05
$SEABIRD_T_J,2.4407245e-06
$SEABIRD_C_G,-10.083902
$SEABIRD_C_H,1.128369
$SEABIRD_C_I,-0.0012433155
$SEABIRD_C_J,0.00018910144
$GPS1,170313,4807.919,-12223.668,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.0
$GPS2,171058,4807.905,-12223.674,16,2.3,35,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.256,0.048
$KALMAN_X,-1992.5,111.4,-45.9,1473.3,-36.0
$KALMAN_Y,659.8,-363.1,-27.4,-494.2,-0.7
$MHEAD_RNG_PITCHd_Wd,61.1,851,-17.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.27,-146.6,0.0,0.0,0,112,0.00,0.00,-93.20,0.000,2,0.000,0.000,483,1922,3832
$GC,115,-1.27,-146.6,4.2,-8.2,12,141,13.57,2.55,-2.88,0.000,4,0.207,0.074,2758,495,3952
$GC,261,-1.27,-146.6,20.4,-8.6,36,270,0.00,2.25,0.00,0.000,6,0.000,0.030,2758,1889,3954
$GC,340,-1.27,-146.6,27.1,-8.2,49,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1890,3954
$GC,416,-1.27,-146.6,33.5,-8.5,62,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1890,3954
$GC,493,-1.27,-146.6,39.7,-8.2,75,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1890,3954
$GC,570,-1.27,-146.6,46.1,-8.1,88,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1890,3954
$GC,714,-1.27,-146.6,57.6,-8.0,113,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1890,3954
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,755,-0.31,0.0,60.5,8.0,119,853,0.98,0.00,91.50,0.689,6,0.103,0.000,2965,1778,3488
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,857,1.27,146.6,63.2,0.0,134,984,1.55,0.00,116.43,0.663,6,0.071,0.000,3317,1778,2889
$GC,1122,1.27,146.6,41.2,11.0,177,1128,0.00,2.38,0.00,0.000,4,0.000,0.047,3317,3195,2888
$GC,1154,1.27,146.6,37.6,10.8,182,1162,0.00,2.35,0.00,0.000,6,0.000,0.043,3317,1818,2888
$GC,1231,1.27,146.6,29.2,11.0,195,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1818,2887
$GC,1308,1.27,146.9,21.1,10.0,208,1316,0.00,2.30,0.00,0.000,4,0.000,0.042,3317,3187,2887
$GC,1331,1.27,146.9,18.7,10.6,211,1339,0.00,2.38,0.00,0.000,6,0.000,0.048,3317,1793,2887
$GC,1409,1.28,149.0,10.7,9.9,224,1418,0.00,2.35,0.00,0.000,4,0.000,0.042,3317,3191,2887
$GC,1438,1.28,149.0,7.6,10.4,228,1447,0.00,2.38,0.00,0.000,6,0.000,0.048,3317,1796,2887
$STATE,1496,end climb,SURFACE_DEPTH_REACHED
$STATE,1496,begin surface coast
$FINISH,1.7,1.020455
$STATE,1557,end surface coast,CONTROL_FINISHED_OK
$STATE,1558,begin surface
$SM_CCo,1583,189.73,0.627,0,0,1937,380.21
$SM_GC,1.21,0.00,0.00,189.73,0.000,0.000,0.627,483,1917,1937,-11.77,0.48,380.21
$IRIDIUM_FIX,4748.51,-12226.29,290598,161622
$TT8_MAMPS,0.026078
$HUMID,1488
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,12.20
$XPDR_PINGS,11
$24V_AH,23.5,2.473
$10V_AH,10.5,2.241
$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,Compass2
$DEVICE_SECS,28.375,19.250,207.925,189.725,0.000,27.643,24.238,226.908,2.750,0.000,0.000,37.413,398.247,84.340,431.417,869.938,465.979,33.330,789.937,0.000,859.293,0.000,0.531,0.000
$DEVICE_MAMPS,207.090,73.632,688.766,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,175.142,138.783,202.482,341.866,721.639,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19164,249
$CAP_FILE_SIZE,34721,0
$CFSIZE,260165632,229240832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,040309,174220,4807.862,-12223.431,10,1.8,10,18.3