version: 66.03
glider: 152
mission: 1
dive: 22
start: 4 25 108 14 39 49
data:
$ID,152
$MISSION,1
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51622
$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,-4719.6084
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$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,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$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,-18.272327
$PRESSURE_SLOPE,0.0001162351
$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,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,143356,4808.014,-12223.664,39,1.5,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.0
$GPS2,143851,4808.014,-12223.669,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.293,-0.032
$KALMAN_X,-913.6,-133.2,48.6,639.4,-70.3
$KALMAN_Y,-1319.3,-120.3,-201.5,2174.6,50.6
$MHEAD_RNG_PITCHd_Wd,77.9,828,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,93,0.00,0.00,-73.47,0.000,2,0.000,0.000,444,2390,2681
$GC,95,-1.17,-195.5,3.3,-4.5,12,158,12.85,2.45,-43.65,0.000,4,0.178,0.074,2717,975,3951
$GC,202,-1.17,-195.5,9.2,-9.1,32,209,0.00,2.38,0.00,0.000,6,0.000,0.045,2717,2366,3952
$GC,274,-1.17,-195.5,15.5,-8.6,48,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2366,3952
$GC,345,-1.17,-195.5,21.4,-7.8,64,352,0.00,2.53,0.00,0.000,4,0.000,0.069,2718,3773,3952
$GC,387,-1.17,-195.5,25.4,-9.6,73,394,0.00,2.38,0.00,0.000,6,0.000,0.034,2717,2361,3953
$GC,459,-1.17,-195.5,31.8,-8.7,89,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2360,3953
$GC,530,-1.17,-195.5,38.4,-9.2,105,537,0.00,2.55,0.00,0.000,4,0.000,0.067,2717,3775,3953
$GC,556,-1.17,-195.5,41.1,-9.9,110,563,0.00,2.35,0.00,0.000,6,0.000,0.034,2717,2375,3953
$GC,698,-1.17,-195.5,54.6,-9.7,141,704,0.00,2.40,0.00,0.000,4,0.000,0.061,2717,983,3953
$GC,729,-1.17,-195.5,57.7,-10.1,147,735,0.00,2.35,0.00,0.000,6,0.000,0.044,2717,2375,3953
$GC,867,-1.17,-195.5,70.7,-9.4,178,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2375,3953
$GC,1010,-1.17,-195.5,83.5,-9.1,209,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2375,3953
$GC,1150,-1.17,-195.5,96.3,-9.2,240,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2375,3952
$STATE,1248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1248,begin apogee
$GC,1252,-0.31,0.0,105.1,8.6,261,1370,0.88,0.00,111.22,0.842,6,0.104,0.000,2899,2254,3388
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1372,1.17,195.5,108.4,0.0,282,1537,1.50,2.60,154.98,0.803,4,0.075,0.072,3224,3680,2590
$GC,1558,1.17,195.5,94.8,11.2,315,1564,0.00,2.35,0.00,0.000,6,0.000,0.044,3225,2296,2590
$GC,1696,1.17,195.5,79.7,10.5,346,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2296,2590
$GC,1837,1.17,195.5,64.5,10.9,377,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2295,2589
$GC,1975,1.17,195.5,49.7,10.5,408,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2295,2589
$GC,2114,1.17,195.9,35.5,10.0,439,2121,0.00,2.47,0.00,0.000,4,0.000,0.070,3225,3672,2589
$GC,2144,1.17,195.9,32.3,10.4,445,2151,0.00,2.38,0.00,0.000,6,0.000,0.039,3224,2277,2589
$GC,2216,1.17,199.5,25.4,9.9,461,2223,0.00,0.00,4.82,0.601,6,0.000,0.000,3225,2277,2574
$GC,2288,1.20,218.3,18.6,9.4,477,2307,0.00,0.00,16.42,0.757,6,0.000,0.000,3225,2277,2498
$GC,2372,1.25,261.0,10.9,8.5,495,2416,0.10,2.55,35.40,0.767,4,0.074,0.066,3253,3675,2324
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,3.4,1.017772
$STATE,2540,end surface coast,CONTROL_FINISHED_OK
$STATE,2540,begin surface
$SM_CCo,2561,232.27,0.734,2,0,942,600.00
$SM_GC,1.53,0.00,0.00,232.27,0.000,0.000,0.734,447,2360,942,-11.64,-0.42,600.00
$IRIDIUM_FIX,4748.51,-12226.29,200797,131328
$TT8_MAMPS,0.021476
$HUMID,1470
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,14.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,100.2,18.8
$24V_AH,23.5,3.709
$10V_AH,10.1,1.781
$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,27.850,34.125,322.850,232.275,0.000,22.426,23.244,171.100,6.500,0.000,0.000,12.903,771.624,220.588,597.188,1233.002,296.841,33.330,1152.536,0.000,1236.233,0.000,8.494
$DEVICE_MAMPS,177.944,74.399,842.166,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,366.216,281.021,904.412,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28627,531
$CAP_FILE_SIZE,53577,0
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,250408,152715,4808.027,-12223.222,8,1.5,8,18.3