version: 66.03
glider: 149
mission: 2
dive: 23
start: 4 25 108 16 13 56
data:
$ID,149
$MISSION,2
$DIVE,23
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,51639
$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,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,-3016.0271
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3733
$C_PITCH,3040
$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,282
$ROLL_MAX,3925
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,3485
$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,-18.749365
$PRESSURE_SLOPE,0.000116112
$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,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$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,0.0043685557
$SEABIRD_T_H,0.00063666771
$SEABIRD_T_I,2.5326763e-05
$SEABIRD_T_J,2.7989174e-06
$SEABIRD_C_G,-9.6974983
$SEABIRD_C_H,1.0780905
$SEABIRD_C_I,-0.00093173212
$SEABIRD_C_J,0.00015556168
$GPS1,160726,4808.016,-12223.654,8,1.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.1
$GPS2,161259,4808.033,-12223.657,10,7.7,29,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.291,-0.050
$KALMAN_X,-215.2,-60.1,-19.0,-71.2,-48.6
$KALMAN_Y,95.8,-123.5,-57.4,750.0,64.4
$MHEAD_RNG_PITCHd_Wd,81.5,815,-14.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,96,0.00,0.00,-75.97,0.000,2,0.000,0.000,430,2177,2855
$GC,98,-1.17,-195.5,3.1,-2.7,14,156,12.70,2.45,-37.90,0.000,4,0.166,0.090,2778,770,3955
$GC,260,-1.17,-195.5,14.9,-8.3,49,267,0.00,2.42,-0.10,0.000,6,0.000,0.067,2778,2182,3960
$GC,330,-1.17,-195.5,20.3,-8.0,65,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2182,3960
$GC,399,-1.17,-195.5,25.8,-7.7,81,406,0.00,2.55,0.00,0.000,4,0.000,0.094,2778,3586,3960
$GC,428,-1.17,-195.5,28.0,-8.0,87,434,0.00,2.42,0.00,0.000,6,0.000,0.067,2778,2169,3960
$GC,498,-1.17,-195.5,33.5,-7.7,103,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2169,3960
$GC,568,-1.17,-195.5,39.2,-8.4,119,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2169,3960
$GC,643,-1.17,-195.5,45.3,-7.9,135,648,0.00,2.42,0.00,0.000,4,0.000,0.068,2778,766,3960
$GC,681,-1.17,-195.5,48.7,-8.8,143,687,0.00,2.42,0.00,0.000,6,0.000,0.061,2777,2181,3960
$GC,823,-1.17,-195.5,59.9,-7.8,174,829,0.00,2.45,0.00,0.000,4,0.000,0.067,2778,773,3960
$GC,876,-1.17,-195.5,64.4,-8.5,185,882,0.00,2.42,0.00,0.000,6,0.000,0.067,2778,2185,3960
$GC,1019,-1.17,-195.5,75.3,-7.6,216,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2185,3960
$GC,1162,-1.17,-195.5,86.2,-7.3,247,1168,0.00,2.45,0.00,0.000,4,0.000,0.067,2778,774,3960
$GC,1196,-1.17,-195.5,89.1,-8.4,254,1202,0.00,2.40,0.00,0.000,6,0.000,0.061,2778,2181,3960
$GC,1340,-1.17,-195.5,100.4,-7.2,285,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2182,3960
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1402,-0.31,0.0,105.1,7.9,298,1507,0.90,0.00,95.47,0.772,6,0.102,0.000,2969,2182,3485
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1509,1.17,195.5,107.4,0.0,318,1674,1.45,2.65,154.05,0.750,4,0.075,0.104,3292,3583,2689
$GC,1693,1.17,195.5,94.8,11.2,353,1699,0.00,2.45,0.00,0.000,6,0.000,0.066,3292,2185,2689
$GC,1834,1.17,195.5,78.8,11.4,384,1841,0.00,2.50,0.00,0.000,4,0.000,0.077,3292,767,2689
$GC,1860,1.17,195.5,75.8,11.6,389,1866,0.00,2.47,0.00,0.000,6,0.000,0.071,3292,2182,2689
$GC,2001,1.17,195.5,59.8,10.5,420,2008,0.00,2.62,0.00,0.000,4,0.000,0.111,3292,3588,2689
$GC,2036,1.17,195.5,55.9,11.5,427,2042,0.00,2.47,0.00,0.000,6,0.000,0.066,3292,2176,2688
$GC,2177,1.17,195.5,40.6,10.7,458,2183,0.00,2.47,0.00,0.000,4,0.000,0.077,3292,766,2688
$GC,2207,1.17,195.5,37.4,11.5,464,2213,0.00,2.45,0.00,0.000,6,0.000,0.064,3292,2179,2688
$GC,2276,1.17,198.9,30.0,9.9,480,2289,0.00,2.65,4.68,0.550,4,0.000,0.103,3292,3577,2674
$GC,2311,1.17,198.9,26.1,11.4,487,2318,0.00,2.42,0.00,0.000,6,0.000,0.073,3292,2178,2674
$GC,2380,1.17,198.9,18.6,10.7,503,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2179,2674
$GC,2450,1.21,229.5,11.9,8.9,519,2478,0.00,0.00,25.62,0.708,6,0.000,0.000,3292,2179,2549
$GC,2542,1.45,421.3,5.9,3.4,539,2599,0.22,0.00,53.75,0.700,2,0.064,0.000,3351,2178,2274
$STATE,2599,end climb,SURFACE_DEPTH_REACHED
$STATE,2599,begin surface coast
$FINISH,2.9,1.017914
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2782,begin surface
$SM_CCo,2801,221.12,0.676,3,0,1039,600.00
$SM_GC,1.30,0.00,0.00,221.12,0.000,0.000,0.676,434,2177,1039,-11.99,-0.08,600.00
$IRIDIUM_FIX,4751.72,-12221.84,200797,151508
$TT8_MAMPS,0.028379
$HUMID,1474
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.30
$XPDR_PINGS,95
$ALTIM_BOTTOM_PING,90.1,29.4
$24V_AH,23.6,3.327
$10V_AH,10.1,1.530
$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,28.100,49.600,333.575,221.125,0.000,24.401,23.520,185.530,24.750,0.000,0.000,32.294,854.549,482.502,638.150,1093.865,319.613,33.323,1205.460,0.000,1069.891,0.000,9.806
$DEVICE_MAMPS,165.672,111.215,771.602,676.494,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.279,299.253,730.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31751,593
$CAP_FILE_SIZE,60489,0
$CFSIZE,260165632,257933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,250408,170541,4807.989,-12223.247,14,2.3,33,18.3