version: 66.03
glider: 153
mission: 1
dive: 22
start: 4 30 108 16 30 3
data:
$ID,153
$MISSION,1
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,150
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51781
$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,738.35297
$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,8
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5521.2646
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,465
$PITCH_MAX,3745
$C_PITCH,3265
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3870
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3950
$C_VBD,3500
$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,-13.561021
$PRESSURE_SLOPE,0.0001161872
$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
$DEVICE3,83
$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,0.0043449649
$SEABIRD_T_H,0.00062721409
$SEABIRD_T_I,2.149689e-05
$SEABIRD_T_J,2.0033956e-06
$SEABIRD_C_G,-9.9283581
$SEABIRD_C_H,1.1183646
$SEABIRD_C_I,-0.0012776167
$SEABIRD_C_J,0.00011918142
$GPS1,161404,4807.343,-12223.082,9,2.0,9,18.3
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.0
$GPS2,162904,4807.189,-12222.896,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.060,0.236
$KALMAN_X,4713.6,359.7,128.2,-4738.8,93.2
$KALMAN_Y,-8301.2,-580.6,-151.6,7097.3,-77.4
$MHEAD_RNG_PITCHd_Wd,327.4,1508,-18.9,-10.000
$D_GRID,107
$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,-1.61,-127.1,0.0,0.0,0,100,0.00,0.00,-79.20,0.000,2,0.000,0.000,465,2256,3328
$GC,102,-1.61,-127.1,3.2,-2.5,13,140,12.82,0.00,-20.12,0.000,6,0.154,0.000,2908,2255,3951
$GC,205,-1.61,-127.1,7.1,-6.2,34,212,0.00,2.70,0.00,0.000,4,0.000,0.111,2908,3665,3953
$GC,231,-1.61,-127.1,9.3,-8.4,39,238,0.00,2.50,0.00,0.000,6,0.000,0.065,2908,2249,3953
$GC,304,-1.61,-127.1,15.1,-8.2,55,310,0.00,2.45,0.00,0.000,4,0.000,0.061,2908,844,3954
$GC,338,-1.61,-127.1,18.2,-9.1,62,345,0.00,2.47,0.00,0.000,6,0.000,0.059,2908,2253,3953
$GC,409,-1.61,-127.1,25.5,-10.6,78,416,0.00,2.67,0.00,0.000,4,0.000,0.110,2908,3647,3953
$GC,468,-1.61,-127.1,32.2,-11.7,91,475,0.00,2.47,0.00,0.000,6,0.000,0.066,2908,2247,3954
$GC,540,-1.61,-127.1,39.8,-10.9,107,547,0.00,2.45,0.00,0.000,4,0.000,0.061,2908,842,3954
$GC,565,-1.61,-127.1,42.7,-11.0,112,572,0.00,2.45,0.00,0.000,6,0.000,0.058,2908,2242,3954
$GC,705,-1.61,-127.1,57.4,-10.5,143,711,0.00,2.42,0.00,0.000,4,0.000,0.059,2908,841,3954
$GC,729,-1.61,-127.1,60.3,-11.3,148,736,0.00,2.45,0.00,0.000,6,0.000,0.059,2908,2243,3954
$GC,868,-1.61,-127.1,74.7,-10.4,179,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2243,3954
$GC,1010,-1.61,-127.1,89.3,-10.1,210,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2243,3954
$GC,1152,-1.61,-127.1,103.2,-10.2,241,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2243,3954
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1189,begin apogee
$GC,1193,-0.38,0.0,107.1,10.5,249,1288,1.25,0.00,90.32,0.717,6,0.107,0.000,3172,2243,3500
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1290,1.61,127.1,109.3,0.0,266,1404,1.95,2.85,101.28,0.686,4,0.076,0.120,3604,3653,2980
$GC,1410,1.61,127.1,98.3,13.3,287,1416,0.00,2.55,0.00,0.000,6,0.000,0.080,3604,2257,2980
$GC,1550,1.61,127.1,77.3,14.6,318,1557,0.00,2.62,0.00,0.000,4,0.000,0.090,3604,846,2978
$GC,1578,1.61,127.1,73.3,15.2,323,1584,0.00,2.47,0.00,0.000,6,0.000,0.067,3604,2249,2979
$GC,1716,1.61,127.1,52.9,14.2,354,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2249,2978
$GC,1854,1.61,127.1,33.3,13.7,385,1861,0.00,2.55,0.00,0.000,4,0.000,0.073,3604,841,2978
$GC,1872,1.61,127.1,30.9,13.5,388,1878,0.00,2.53,0.00,0.000,6,0.000,0.067,3604,2249,2978
$GC,1943,1.61,127.1,21.2,13.4,404,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2249,2978
$GC,2014,1.61,127.1,12.8,11.7,420,2021,0.00,2.72,0.00,0.000,4,0.000,0.120,3604,3656,2978
$GC,2036,1.61,127.1,10.1,12.7,424,2043,0.00,2.55,0.00,0.000,6,0.000,0.075,3604,2247,2978
$STATE,2090,end climb,SURFACE_DEPTH_REACHED
$STATE,2090,begin surface coast
$FINISH,1.8,1.015484
$STATE,2129,end surface coast,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$SM_CCo,2149,453.30,0.609,5,0,490,738.35
$SM_GC,1.25,0.00,0.00,453.30,0.000,0.000,0.609,465,2246,490,-12.88,-0.11,738.35
$IRIDIUM_FIX,4751.72,-12219.12,250797,161620
$TT8_MAMPS,0.026078
$HUMID,1507
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.4,41.7
$24V_AH,23.6,3.159
$10V_AH,10.1,1.574
$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,29.700,45.900,191.600,453.300,0.000,228.234,278.045,0.000,1.500,0.000,0.000,14.801,682.161,495.832,752.095,1031.310,588.988,33.322,1215.849,0.000,1034.287,0.000,5.446
$DEVICE_MAMPS,154.167,120.419,717.145,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,308.589,213.495,752.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22308,445
$CAP_FILE_SIZE,49822,0
$CFSIZE,260165632,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,5,0
$GPS,300408,171434,4807.333,-12222.903,9,2.0,9,18.3