version: 66.03
glider: 146
mission: 1
dive: 20
start: 2 12 108 17 23 22
data:
$ID,146
$MISSION,1
$DIVE,20
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,600
$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,-3651.8506
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3705
$C_PITCH,3135
$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,193
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,471
$VBD_MAX,3950
$C_VBD,3393
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-28.32539
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943107
$SEABIRD_T_H,0.00062841887
$SEABIRD_T_I,2.3281167e-05
$SEABIRD_T_J,2.4418403e-06
$SEABIRD_C_G,-10.095174
$SEABIRD_C_H,1.1317128
$SEABIRD_C_I,-0.0020966067
$SEABIRD_C_J,0.00024836216
$GPS1,171151,4806.812,-12222.320,10,1.3,10,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.4
$GPS2,172256,4806.841,-12222.371,11,1.3,11,18.3
$SPEED_LIMITS,0.173,0.351
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,321.8,2283,-11.6,-10.000
$D_GRID,108
$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,18,-1.09,-293.3,0.0,0.0,0,111,0.00,0.00,-90.93,0.000,2,0.000,0.000,430,2047,2924
$GC,114,-1.09,-293.3,3.3,-5.1,12,176,13.02,2.70,-37.97,0.000,4,0.157,0.073,2893,3599,3952
$GC,331,-1.09,-293.3,13.8,-5.9,48,340,0.00,2.35,0.00,0.000,6,0.000,0.046,2893,2190,3953
$GC,407,-1.09,-293.3,17.7,-5.3,61,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2190,3953
$GC,482,-1.09,-293.3,21.7,-5.1,74,491,0.00,2.45,0.00,0.000,4,0.000,0.056,2892,3607,3953
$GC,542,-1.09,-293.3,25.3,-6.0,84,550,0.00,2.35,0.00,0.000,6,0.000,0.038,2892,2196,3953
$GC,618,-1.09,-293.3,29.6,-6.0,97,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2196,3953
$GC,691,-1.09,-293.3,33.9,-5.5,110,699,0.00,2.42,0.00,0.000,4,0.000,0.057,2892,3603,3953
$GC,717,-1.09,-293.3,35.4,-5.8,114,726,0.00,2.33,0.00,0.000,6,0.000,0.039,2893,2203,3953
$GC,860,-1.09,-293.3,43.1,-5.4,139,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2203,3953
$GC,998,-1.09,-293.3,50.5,-5.0,164,1006,0.00,2.42,0.00,0.000,4,0.000,0.059,2893,3609,3953
$GC,1047,-1.09,-293.3,53.4,-6.2,172,1053,0.00,2.33,0.00,0.000,6,0.000,0.038,2893,2206,3953
$GC,1188,-1.09,-293.3,61.3,-5.5,197,1194,0.00,2.38,0.00,0.000,4,0.000,0.055,2893,3606,3953
$GC,1237,-1.09,-293.3,63.9,-6.1,205,1242,0.00,2.30,0.00,0.000,6,0.000,0.044,2893,2200,3953
$GC,1375,-1.09,-293.3,72.0,-5.9,230,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2200,3953
$GC,1517,-1.09,-293.3,79.5,-5.8,255,1523,0.00,2.38,0.00,0.000,4,0.000,0.061,2893,3611,3953
$GC,1557,-1.09,-293.3,81.6,-5.6,261,1563,0.00,2.33,0.00,0.000,6,0.000,0.036,2893,2191,3953
$GC,1696,-1.09,-293.3,88.9,-5.0,286,1704,0.00,2.42,0.00,0.000,4,0.000,0.054,2893,3606,3953
$GC,1728,-1.09,-293.3,90.6,-5.5,291,1734,0.00,2.30,0.00,0.000,6,0.000,0.036,2893,2201,3953
$STATE,1806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1807,begin apogee
$GC,1810,-0.31,0.0,94.7,5.1,305,1924,0.75,0.00,108.72,0.716,6,0.109,0.000,3059,2200,3393
$STATE,1925,end apogee,CONTROL_FINISHED_OK
$STATE,1925,begin climb
$GC,1926,1.09,293.3,96.1,0.0,323,2165,1.38,2.45,226.75,0.680,4,0.076,0.055,3370,3600,2196
$GC,2200,1.09,293.3,67.1,14.7,367,2206,0.00,2.35,0.00,0.000,6,0.000,0.041,3370,2195,2195
$GC,2338,1.09,293.3,47.6,13.7,392,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2194,2194
$GC,2480,1.09,293.3,28.4,13.7,417,2489,0.00,2.42,0.00,0.000,4,0.000,0.059,3370,3606,2194
$GC,2501,1.09,293.3,25.6,13.3,420,2510,0.00,2.35,0.00,0.000,6,0.000,0.039,3370,2200,2194
$GC,2577,1.09,293.3,15.3,12.8,433,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2200,2194
$GC,2652,1.09,293.3,6.3,11.0,446,2659,0.00,2.58,0.00,0.000,4,0.000,0.099,3370,808,2194
$GC,2667,1.09,293.3,4.6,10.7,448,2675,0.00,2.40,0.00,0.000,6,0.000,0.057,3370,2199,2194
$STATE,2703,end climb,SURFACE_DEPTH_REACHED
$STATE,2703,begin surface coast
$FINISH,2.8,1.017323
$STATE,2825,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2825,begin surface
$SM_CCo,2844,257.35,0.598,11,0,947,600.00
$SM_GC,1.00,0.00,0.00,257.35,0.000,0.000,0.598,434,2200,947,-12.43,0.00,600.00
$IRIDIUM_FIX,4751.72,-12211.95,080597,171700
$TT8_MAMPS,0.026078
$HUMID,1488
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,12.70
$XPDR_PINGS,314
$ALTIM_BOTTOM_PING,80.2,43.4
$24V_AH,23.6,3.698
$10V_AH,10.1,2.107
$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,27.675,48.000,335.475,257.350,0.000,55.958,77.320,330.593,79.000,0.000,0.000,13.042,715.647,377.975,670.631,1458.694,618.901,0.000,1263.478,0.000,1469.822,0.000,5.456
$DEVICE_MAMPS,157.235,98.943,715.611,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.835,224.338,325.190,549.308,1155.296,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38299,476
$CAP_FILE_SIZE,57413,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,120208,181704,4807.089,-12222.477,10,99.0,29,18.3