version: 66.04
glider: 156
mission: 1
dive: 2
start: 8 15 108 19 37 44
data:
$ID,156
$MISSION,1
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51255
$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,-7074.5171
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,46
$PITCH_MAX,4003
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,169
$ROLL_MAX,3842
$ROLL_DEG,40
$C_ROLL_DIVE,2131
$C_ROLL_CLIMB,2131
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3516
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.876059
$PRESSURE_SLOPE,0.0001145783
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043895515
$SEABIRD_T_H,0.00064076902
$SEABIRD_T_I,2.6836891e-05
$SEABIRD_T_J,3.0528029e-06
$SEABIRD_C_G,-10.163977
$SEABIRD_C_H,1.1456759
$SEABIRD_C_I,-0.001231113
$SEABIRD_C_J,0.00018464784
$GPS1,193251,4807.084,-12222.751,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-61.1
$GPS2,193653,4807.070,-12222.743,12,3.5,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.066,0.252
$KALMAN_X,32.3,32.3,32.3,-2.3,54.0
$KALMAN_Y,-118.4,-118.4,-118.4,113.1,-197.6
$MHEAD_RNG_PITCHd_Wd,327.0,1752,-17.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.68,-146.6,0.0,0.0,0,139,0.00,0.00,-121.25,0.000,2,0.000,0.000,41,2131,3763
$GC,141,-0.68,-146.6,3.1,-4.5,21,155,6.70,0.00,-4.88,0.000,6,0.250,0.000,1770,2131,3961
$GC,219,-0.68,-146.6,10.6,-4.4,38,225,0.00,2.15,0.00,0.000,4,0.000,0.041,1770,727,3964
$GC,369,-0.68,-146.6,17.6,-5.8,73,375,0.00,2.15,0.00,0.000,6,0.000,0.035,1761,2138,3964
$GC,439,-0.68,-146.6,21.8,-6.9,89,445,0.00,2.15,0.00,0.000,4,0.000,0.044,1751,3543,3964
$GC,535,-0.68,-146.6,29.7,-8.8,111,542,0.12,2.10,0.00,0.000,6,0.178,0.030,1781,2122,3964
$GC,606,-0.68,-146.6,35.7,-8.5,127,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2122,3965
$GC,678,-0.68,-146.6,41.8,-8.9,143,683,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2122,3965
$STATE,713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,714,begin apogee
$GC,718,-0.14,0.0,45.1,8.9,151,802,0.52,0.00,79.60,0.557,6,0.154,0.000,1949,2120,3515
$STATE,803,end apogee,CONTROL_FINISHED_OK
$STATE,803,begin climb
$GC,805,0.68,146.6,47.5,0.0,166,918,0.77,0.00,105.55,0.539,6,0.107,0.000,2214,2120,2917
$GC,1044,0.68,146.6,26.6,10.0,216,1050,0.00,2.22,0.00,0.000,4,0.000,0.045,2214,3537,2916
$GC,1073,0.68,146.6,23.4,11.1,222,1079,0.00,2.12,0.00,0.000,6,0.000,0.031,2225,2140,2916
$GC,1143,0.68,146.6,16.0,10.6,238,1149,0.00,2.20,0.00,0.000,4,0.000,0.047,2224,3542,2916
$GC,1172,0.68,146.6,12.8,11.5,244,1178,0.00,2.12,0.00,0.000,6,0.000,0.031,2235,2131,2916
$GC,1242,0.74,196.4,5.9,7.7,260,1284,0.00,2.22,35.78,0.533,4,0.000,0.042,2242,720,2716
$STATE,1330,end climb,SURFACE_DEPTH_REACHED
$STATE,1330,begin surface coast
$FINISH,2.5,1.018652
$STATE,1349,end surface coast,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$SM_CCo,1365,293.85,0.521,0,0,1069,600.00
$SM_GC,0.93,0.00,0.00,293.85,0.000,0.000,0.521,33,2128,1069,-6.15,-0.08,600.00
$IRIDIUM_FIX,4751.72,-12226.29,091197,191918
$TT8_MAMPS,0.028379
$HUMID,1921
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.40
$XPDR_PINGS,3
$24V_AH,25.1,0.702
$10V_AH,10.9,0.645
$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,Compass2
$DEVICE_SECS,13.950,21.700,220.925,293.850,0.000,0.000,0.000,0.000,0.750,0.000,0.000,32.452,416.231,150.672,580.705,561.697,40.110,30.181,890.608,0.000,546.718,0.000,1.000,0.000
$DEVICE_MAMPS,250.042,46.787,556.842,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,186.803,180.903,444.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12828,282
$CAP_FILE_SIZE,42351,0
$CFSIZE,260165632,258785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150808,200609,4807.139,-12222.787,10,1.4,10,18.3