version: 66.03
glider: 128
mission: 2
dive: 1082
start: 10 17 107 19 47 3
data:
$ID,128
$MISSION,2
$DIVE,1082
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$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,40
$T_MISSION,50
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95630.25
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,3
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,194059,4808.047,-12222.982,10,2.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-68.7
$GPS2,194607,4808.096,-12223.018,13,1.5,29,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.015,-0.173
$KALMAN_X,-24101.6,-171.8,-173.6,24209.6,-7.6
$KALMAN_Y,4102.0,-0.5,136.5,-1113.3,150.6
$MHEAD_RNG_PITCHd_Wd,156.7,179,-27.8,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.62,-63.1,0.0,0.0,0,91,0.00,0.00,-48.00,0.000,2,0.000,0.000,16,2355,1769
$GC,97,-1.71,-129.6,3.3,-3.0,9,143,9.05,2.30,-29.38,0.000,4,0.204,0.048,2229,955,3032
$GC,330,-1.71,-129.6,45.4,-18.4,49,336,0.00,2.28,0.00,0.000,6,0.000,0.034,2220,2345,3034
$GC,538,-1.71,-129.6,86.8,-20.1,70,542,0.00,2.22,0.00,0.000,4,0.000,0.032,2220,945,3034
$STATE,614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,614,begin apogee
$GC,629,-0.28,0.0,103.8,20.7,77,736,1.62,0.00,102.15,0.740,6,0.142,0.000,2682,2153,2499
$STATE,737,end apogee,CONTROL_FINISHED_OK
$STATE,737,begin climb
$GC,743,1.71,129.6,111.2,0.0,88,847,1.92,0.00,99.97,0.700,6,0.071,0.000,3324,2153,1971
$GC,1167,1.71,129.6,58.3,14.4,128,1171,0.00,2.28,0.00,0.000,4,0.000,0.037,3334,757,1969
$GC,1305,1.71,129.6,38.0,14.5,147,1311,0.00,2.25,0.00,0.000,6,0.000,0.031,3334,2160,1968
$GC,1520,1.71,129.6,8.9,11.2,184,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2160,1968
$GC,1598,1.84,237.7,10.4,-1.5,197,1687,0.10,2.42,82.68,0.690,4,0.077,0.036,3386,749,1529
$GC,1886,1.96,335.2,6.0,-0.3,247,1969,0.00,2.25,74.30,0.677,6,0.000,0.030,3386,2156,1132
$GC,2045,2.05,407.1,3.2,2.4,274,2053,0.15,0.00,5.12,0.602,2,0.064,0.000,3449,2156,1107
$STATE,2053,end climb,SURFACE_DEPTH_REACHED
$STATE,2053,begin surface coast
$FINISH,1.5,1.009544
$STATE,2230,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2230,begin surface
$SM_CCo,2259,98.25,0.661,0,0,460,500.17
$SM_GC,2.59,0.00,0.00,98.25,0.000,0.000,0.661,14,2356,460,-8.64,0.17,500.17
$IRIDIUM_FIX,4751.72,-12219.12,171007,232347
$TT8_MAMPS,0.026078
$HUMID,1884
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,78.2,42.3
$24V_AH,23.9,105.138
$10V_AH,10.7,48.463
$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,22.725,18.275,364.225,98.250,0.000,29.391,11.910,108.369,0.500,0.000,0.000,30.773,451.506,759.481,452.542,621.358,393.880,33.325,794.193,0.000,618.298,0.000,2.516
$DEVICE_MAMPS,204.022,48.321,740.155,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.802,223.105,516.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15999,306
$CFSIZE,260165632,228474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171007,202720,4807.966,-12223.097,13,1.6,13,18.3