version: 66.04
glider: 162
mission: 1
dive: 3
start: 12 3 108 20 21 9
data:
$ID,162
$MISSION,1
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$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,5
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,580
$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,-3022.7788
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,223
$ROLL_MAX,3803
$ROLL_DEG,40
$C_ROLL_DIVE,2302
$C_ROLL_CLIMB,2302
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,498
$VBD_MAX,3961
$C_VBD,3720
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.364471
$PRESSURE_SLOPE,0.0001156064
$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,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043495079
$SEABIRD_T_H,0.00062862021
$SEABIRD_T_I,2.5575922e-05
$SEABIRD_T_J,2.9323719e-06
$SEABIRD_C_G,-9.95471
$SEABIRD_C_H,1.1163813
$SEABIRD_C_I,-0.00058590219
$SEABIRD_C_J,0.00013969469
$GPS1,201623,4807.986,-12224.006,8,2.9,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.1
$GPS2,202017,4807.991,-12224.023,11,3.0,30,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.214,-0.022
$KALMAN_X,12.4,12.7,12.6,-786.8,9.6
$KALMAN_Y,75.9,65.9,63.6,-131.7,52.8
$MHEAD_RNG_PITCHd_Wd,77.6,1265,-21.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.11,-97.8,0.0,0.0,0,116,0.00,0.00,-99.30,0.000,2,0.000,0.000,166,2304,3436
$GC,118,-1.11,-97.8,3.4,-5.6,17,149,9.48,2.30,-14.48,0.000,4,0.265,0.084,2448,3719,3964
$GC,403,-1.11,-97.8,21.2,-8.2,67,409,0.00,2.20,0.00,0.000,6,0.000,0.048,2448,2291,3965
$GC,478,-1.11,-97.8,27.2,-8.6,80,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2291,3964
$GC,552,-1.11,-97.8,33.7,-8.5,93,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2291,3964
$GC,627,-1.11,-97.8,40.2,-9.3,106,633,0.00,2.30,0.00,0.000,4,0.000,0.071,2440,3722,3964
$GC,667,-1.11,-97.8,44.1,-9.5,113,673,0.00,2.20,0.00,0.000,6,0.000,0.048,2440,2301,3964
$GC,808,-1.11,-97.8,57.8,-10.3,138,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2301,3964
$GC,948,-1.11,-97.8,70.9,-9.4,163,954,0.00,2.28,0.00,0.000,4,0.000,0.071,2431,3714,3964
$GC,976,-1.11,-97.8,73.9,-10.2,168,983,0.05,2.20,0.00,0.000,6,0.179,0.048,2461,2303,3964
$GC,1120,-1.11,-97.8,85.9,-8.2,193,1126,0.00,2.17,0.00,0.000,4,0.000,0.054,2462,900,3964
$GC,1148,-1.11,-97.8,88.3,-8.5,198,1154,0.00,2.17,0.00,0.000,6,0.000,0.054,2454,2304,3964
$GC,1290,-1.11,-97.8,99.3,-7.5,223,1296,0.00,2.25,0.00,0.000,4,0.000,0.071,2452,3713,3964
$GC,1358,-1.11,-97.8,104.7,-8.2,235,1364,0.00,2.17,0.00,0.000,6,0.000,0.048,2452,2296,3964
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1372,-0.23,0.0,105.6,7.9,237,1422,0.90,0.00,45.25,0.757,6,0.148,0.000,2737,2297,3720
$STATE,1423,end apogee,CONTROL_FINISHED_OK
$STATE,1423,begin climb
$GC,1425,1.11,97.8,106.4,0.0,246,1510,1.20,2.40,75.00,0.721,4,0.074,0.065,3171,3705,3321
$GC,1537,1.11,97.8,96.8,14.4,266,1544,0.00,2.25,0.00,0.000,6,0.000,0.045,3182,2299,3321
$GC,1679,1.11,97.8,77.0,13.2,291,1685,0.00,2.33,0.00,0.000,4,0.000,0.065,3182,3721,3320
$GC,1724,1.11,97.8,70.7,13.7,299,1730,0.00,2.22,0.00,0.000,6,0.000,0.045,3192,2302,3321
$GC,1864,1.11,97.8,52.1,12.5,324,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2302,3320
$GC,2005,1.11,97.8,34.5,12.4,349,2011,0.00,2.25,0.00,0.000,4,0.000,0.065,3192,3713,3320
$GC,2062,1.11,97.8,26.8,13.7,359,2068,0.00,2.17,0.00,0.000,6,0.000,0.046,3202,2301,3320
$GC,2136,1.11,97.8,17.7,11.7,372,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2301,3320
$GC,2210,1.11,97.8,9.7,10.7,385,2216,0.00,2.20,0.00,0.000,4,0.000,0.054,3213,887,3320
$GC,2233,1.11,97.8,7.2,10.3,389,2240,0.15,2.20,0.00,0.000,6,0.179,0.051,3175,2306,3320
$GC,2308,1.30,251.6,5.5,-0.6,402,2380,0.17,0.00,68.60,0.674,2,0.079,0.000,3245,2307,2941
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,3.6,1.020168
$STATE,2509,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2525,254.48,0.581,21,1,1369,576.21
$SM_CCo,2888,1.98,0.084,0,0,1355,580.13
$SM_GC,1.70,0.00,0.00,1.98,0.000,0.000,0.084,163,1991,1355,-8.31,0.11,580.13
$IRIDIUM_FIX,4751.72,-12340.51,270298,202030
$TT8_MAMPS,0.026845
$HUMID,1579
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,39.2
$24V_AH,24.1,0.460
$10V_AH,10.7,0.191
$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,20.925,40.275,188.850,256.450,0.000,0.000,0.000,0.000,0.500,0.000,0.000,31.785,661.357,790.784,658.361,820.904,46.846,31.413,1080.273,0.000,799.202,0.000,5.531,0.000
$DEVICE_MAMPS,264.615,83.603,757.029,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.115,551.069,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19086,437
$CAP_FILE_SIZE,58956,8
$CFSIZE,260165632,258711552
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,21,0
$GPS,031208,211003,4807.965,-12223.748,11,1.7,11,18.3