version: 66.04
glider: 144
mission: 14
dive: 25
start: 5 14 109 15 2 54
data:
$ID,144
$MISSION,14
$DIVE,25
$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,62.5
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,0
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59137.535
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,3338
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-4.5495057
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$DEVICE3,53
$DEVICE4,35
$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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,145556,4806.806,-12223.537,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-76.9
$GPS2,150201,4806.793,-12223.516,13,1.7,13,18.3
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.098,0.223
$KALMAN_X,-1847.5,-355.3,-160.8,2072.8,-4.1
$KALMAN_Y,17049.4,-1078.3,153.3,-17967.8,437.1
$MHEAD_RNG_PITCHd_Wd,5.4,2324,-15.3,-8.000
$D_GRID,150
$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,15,-0.85,-146.6,0.0,0.0,0,58,0.00,0.00,-41.47,0.000,2,0.000,0.000,98,2301,2332
$GC,61,-0.85,-146.6,4.2,-10.3,7,105,7.10,2.35,-30.67,0.000,4,0.258,0.076,1807,887,3939
$GC,129,-0.37,-146.6,12.1,-10.4,18,136,0.43,2.33,0.00,0.000,6,0.163,0.061,1920,2312,3939
$GC,206,-0.70,-146.6,17.7,-5.5,31,212,0.20,0.00,0.00,0.000,6,0.133,0.000,1824,2312,3939
$GC,278,-0.58,-146.6,25.3,-11.6,40,280,0.17,0.00,0.00,0.000,6,0.152,0.000,1872,2312,3940
$GC,470,-0.80,-146.6,38.8,-6.2,58,472,0.15,0.00,0.00,0.000,6,0.063,0.000,1803,2312,3940
$GC,659,-0.71,-146.6,60.2,-12.0,72,664,0.15,2.28,0.00,0.000,4,0.157,0.064,1835,3714,3939
$GC,708,-0.87,-146.6,65.2,-8.4,74,713,0.08,2.22,0.00,0.000,6,0.094,0.047,1795,2299,3939
$STATE,1024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1024,begin apogee
$GC,1029,-0.22,0.0,102.4,12.0,89,1137,0.47,0.00,103.15,0.667,6,0.140,0.000,1947,2298,3337
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1140,0.85,146.6,106.2,0.0,100,1253,0.68,2.47,105.65,0.644,4,0.081,0.063,2184,3713,2739
$GC,1326,0.25,146.6,93.3,15.7,116,1331,0.55,2.33,0.00,0.000,6,0.196,0.050,2052,2306,2734
$GC,1647,0.59,253.2,78.1,4.1,132,1733,0.20,2.40,77.15,0.636,4,0.058,0.063,2146,3716,2302
$GC,1768,0.40,253.2,65.4,12.8,137,1773,0.28,2.33,0.00,0.000,6,0.163,0.049,2084,2300,2299
$GC,2085,0.77,335.4,47.3,5.0,154,2153,0.22,2.40,60.12,0.618,4,0.060,0.062,2182,3720,1968
$GC,2192,0.56,335.4,33.0,16.2,163,2199,0.28,2.30,0.00,0.000,6,0.164,0.057,2120,2303,1964
$GC,2392,0.95,411.1,19.3,5.2,183,2452,0.22,0.00,55.80,0.597,6,0.061,0.000,2223,2303,1661
$GC,2523,1.52,543.3,5.1,3.2,205,2554,0.30,0.00,28.67,0.574,2,0.114,0.000,2336,2303,1509
$STATE,2555,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,3.2,1.016443
$STATE,2686,end surface coast,CONTROL_FINISHED_OK
$STATE,2686,begin surface
$SM_CCo,2701,112.57,0.583,0,0,892,600.00
$SM_GC,0.99,0.00,0.00,112.57,0.000,0.000,0.583,99,2302,892,-8.74,-0.03,600.00
$IRIDIUM_FIX,4751.72,-12223.57,080898,131300
$TT8_MAMPS,0.029146
$HUMID,1549
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,17.00
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.9,7.9
$ALTIM_BOTTOM_PING,92.5,18.6
$24V_AH,24.3,3.006
$10V_AH,10.7,1.117
$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,17.600,23.400,430.550,112.575,0.000,28.181,25.238,207.052,3.750,0.000,0.000,15.386,391.668,1375.630,515.110,544.671,365.873,33.309,848.222,0.000,536.048,0.000,14.473,0.000
$DEVICE_MAMPS,258.479,75.933,666.523,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,165.780,162.052,238.451,401.694,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12866,233
$CAP_FILE_SIZE,41538,0
$CFSIZE,260165632,258109440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140509,155141,4807.042,-12223.290,75,1.9,75,18.3