version: 66.03
glider: 152
mission: 1
dive: 24
start: 4 25 108 16 18 26
data:
$ID,152
$MISSION,1
$DIVE,24
$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,-4767.4277
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,161229,4808.007,-12222.993,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.1
$GPS2,161729,4808.016,-12222.998,11,4.6,30,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.040,-0.169
$KALMAN_X,-966.2,-108.3,-50.5,1594.7,-31.2
$KALMAN_Y,-1285.8,-145.9,-2.2,1971.6,95.2
$MHEAD_RNG_PITCHd_Wd,148.5,29,-27.2,-10.000
$D_GRID,103
$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,16,begin dive
$GC,17,-1.78,-63.1,0.0,0.0,0,105,0.00,0.00,-85.20,0.000,2,0.000,0.000,446,2385,2923
$GC,107,-1.87,-132.2,3.1,-2.7,14,159,11.80,2.47,-30.05,0.000,4,0.173,0.071,2564,985,3929
$GC,278,-1.87,-132.2,23.9,-13.3,50,285,0.00,2.35,0.00,0.000,6,0.000,0.044,2564,2366,3930
$GC,350,-1.87,-132.2,34.4,-14.8,66,356,0.00,2.42,0.00,0.000,4,0.000,0.059,2564,987,3930
$GC,379,-1.87,-132.2,39.0,-15.4,72,386,0.00,2.35,0.00,0.000,6,0.000,0.044,2564,2368,3930
$GC,452,-1.87,-132.2,50.8,-16.7,88,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2369,3930
$GC,593,-1.87,-132.2,73.4,-15.3,119,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2369,3930
$GC,733,-1.87,-132.2,96.1,-16.4,150,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2369,3930
$STATE,776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,776,begin apogee
$GC,780,-0.31,0.0,103.1,16.0,159,893,1.65,0.00,106.55,0.833,6,0.117,0.000,2902,2251,3388
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,896,1.87,132.2,107.1,0.0,179,1010,2.15,2.60,104.75,0.803,4,0.074,0.069,3378,3681,2848
$GC,1033,1.87,132.2,92.5,17.2,204,1040,0.00,2.38,0.00,0.000,6,0.000,0.041,3378,2299,2848
$GC,1175,1.87,132.2,68.1,17.4,235,1181,0.00,2.45,0.00,0.000,4,0.000,0.068,3378,3678,2848
$GC,1190,1.87,132.2,65.1,17.4,238,1197,0.00,2.40,0.00,0.000,6,0.000,0.041,3378,2278,2848
$GC,1332,1.87,132.2,41.3,16.8,269,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2277,2848
$GC,1464,1.87,132.2,20.0,14.9,300,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2277,2848
$GC,1535,1.87,132.2,9.1,15.1,316,1542,0.00,2.50,0.00,0.000,4,0.000,0.065,3379,3671,2847
$STATE,1584,end climb,SURFACE_DEPTH_REACHED
$STATE,1585,begin surface coast
$FINISH,4.9,1.018902
$STATE,1611,end surface coast,CONTROL_FINISHED_OK
$STATE,1611,begin surface
$SM_CCo,1614,382.30,0.693,18,0,540,698.61
$SM_GC,1.34,12.90,0.00,0.00,0.048,0.000,0.000,447,2364,534,-11.58,-0.31,700.09
$IRIDIUM_FIX,4748.51,-12226.29,200797,151511
$TT8_MAMPS,0.021476
$HUMID,1478
$INTERNAL_PRESSURE,8.93274
$TCM_TEMP,14.60
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,80.1,38.7
$24V_AH,23.6,3.966
$10V_AH,10.1,1.883
$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,28.500,24.325,211.300,382.300,0.000,23.985,30.200,151.984,5.250,0.000,0.000,33.226,494.205,213.670,738.292,802.309,269.571,33.320,1114.096,0.000,784.357,0.000,5.448
$DEVICE_MAMPS,172.575,71.331,832.962,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,230.034,176.015,573.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19118,333
$CAP_FILE_SIZE,37875,0
$CFSIZE,260165632,257937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,18,0
$GPS,250408,165604,4807.876,-12222.915,7,2.2,26,18.3