version: 66.04
glider: 130
mission: 5
dive: 19
start: 5 20 109 13 32 27
data:
$ID,130
$MISSION,5
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51945
$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,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,675
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-52232.352
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2845
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3437
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.2383127
$PRESSURE_SLOPE,0.0001159091
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,132426,4808.002,-12223.855,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.7
$GPS2,133131,4808.037,-12223.906,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.266,-0.020
$KALMAN_X,-457.2,64.1,-111.1,-191.6,-27.8
$KALMAN_Y,1501.6,-321.4,273.0,-1177.8,11.2
$MHEAD_RNG_PITCHd_Wd,76.1,1122,-16.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.25,-155.7,0.0,0.0,0,74,0.00,0.00,-54.10,0.000,2,0.000,0.000,411,1945,1863
$GC,79,-1.25,-155.7,3.1,-3.5,9,157,11.98,2.55,-59.30,0.000,4,0.148,0.067,2565,545,3962
$GC,408,-1.13,-155.7,28.3,-10.6,78,416,0.17,2.40,0.00,0.000,6,0.098,0.038,2599,1949,3963
$GC,486,-1.13,-155.7,35.2,-8.6,91,493,0.00,2.53,0.00,0.000,4,0.000,0.058,2598,539,3962
$GC,632,-1.13,-155.7,49.2,-9.5,122,638,0.00,2.42,0.00,0.000,6,0.000,0.040,2598,1954,3963
$GC,775,-1.18,-155.7,62.0,-9.1,147,781,0.00,2.45,0.00,0.000,4,0.000,0.054,2598,3352,3962
$GC,803,-1.23,-155.7,64.3,-8.2,152,810,0.00,2.42,0.00,0.000,6,0.000,0.044,2598,1949,3963
$GC,948,-1.28,-155.7,76.3,-7.9,177,955,0.15,2.53,0.00,0.000,4,0.051,0.061,2558,537,3963
$GC,986,-1.23,-155.7,80.2,-11.1,184,993,0.00,2.42,0.00,0.000,6,0.000,0.041,2558,1949,3963
$GC,1132,-1.20,-155.7,94.9,-9.8,209,1138,0.12,0.00,0.00,0.000,6,0.099,0.000,2581,1949,3963
$STATE,1237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1237,begin apogee
$GC,1246,-0.31,0.0,105.3,9.6,228,1349,0.90,0.00,97.12,0.673,6,0.077,0.000,2770,2063,3437
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1354,1.25,155.7,108.6,0.0,247,1480,1.55,2.55,117.43,0.654,4,0.052,0.055,3114,3446,2801
$GC,1526,1.17,155.7,98.3,10.3,279,1532,0.00,2.45,0.00,0.000,6,0.000,0.046,3114,2049,2799
$GC,1670,1.13,162.3,84.2,9.7,304,1683,0.12,2.55,6.47,0.521,4,0.096,0.061,3091,641,2774
$GC,1700,1.14,166.7,81.2,9.8,309,1712,0.00,2.42,5.20,0.480,6,0.000,0.041,3091,2043,2757
$GC,1855,1.16,182.0,68.1,9.3,335,1871,0.00,0.00,13.15,0.593,6,0.000,0.000,3090,2044,2695
$GC,2010,1.21,227.4,54.1,8.0,362,2048,0.00,0.00,36.45,0.617,6,0.000,0.000,3090,2044,2510
$GC,2190,1.26,237.6,37.5,9.6,393,2204,0.12,2.60,9.27,0.550,4,0.052,0.061,3126,643,2467
$GC,2226,1.21,237.6,33.1,12.3,399,2232,0.00,2.45,0.00,0.000,6,0.000,0.042,3126,2053,2467
$GC,2302,1.21,237.6,24.1,11.8,412,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2053,2466
$GC,2378,1.21,237.6,15.3,11.0,425,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2053,2466
$GC,2454,1.23,257.8,7.7,9.1,438,2473,0.00,0.00,17.02,0.581,6,0.000,0.000,3126,2053,2386
$GC,2544,1.77,502.6,5.1,-0.6,453,2746,0.43,2.62,191.18,0.594,4,0.034,0.061,3235,642,1387
$STATE,2776,end climb,SURFACE_DEPTH_REACHED
$STATE,2777,begin surface coast
$FINISH,4.0,1.013411
$STATE,3051,end surface coast,CONTROL_FINISHED_OK
$STATE,3051,begin surface
$SM_CCo,3080,145.73,0.574,4,0,685,675.07
$SM_GC,1.95,0.00,0.00,145.73,0.000,0.000,0.574,416,1964,685,-11.17,0.40,675.07
$IRIDIUM_FIX,4751.72,-12221.84,140898,121232
$TT8_MAMPS,0.024544
$HUMID,1578
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.6,2.450
$10V_AH,10.8,1.780
$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,28.225,39.800,493.300,145.725,0.000,23.514,33.528,200.294,0.000,0.000,0.000,16.465,771.040,665.286,648.607,1019.969,580.100,33.334,1211.959,0.000,1095.273,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,67.496,672.659,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,455.626,250.773,558.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28532,555
$CAP_FILE_SIZE,55924,0
$CFSIZE,260165632,185782272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,4,0
$GPS,200509,143536,4807.990,-12223.410,498,1.3,499,18.3