version: 66.03
glider: 145
mission: 1
dive: 19
start: 2 12 108 15 19 49
data:
$ID,145
$MISSION,1
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,60
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,550
$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,-2597.1418
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,429
$PITCH_MAX,3741
$C_PITCH,2925
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2234
$C_ROLL_CLIMB,2234
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3982
$C_VBD,3475
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,61.200001
$PRESSURE_YINT,-14.969851
$PRESSURE_SLOPE,0.0001163609
$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,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0043682093
$SEABIRD_T_H,0.00063645886
$SEABIRD_T_I,2.5728024e-05
$SEABIRD_T_J,2.8812779e-06
$SEABIRD_C_G,-10.192017
$SEABIRD_C_H,1.154353
$SEABIRD_C_I,-0.0017179218
$SEABIRD_C_J,0.00021944837
$GPS1,150844,4806.007,-12222.015,9,1.3,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.8
$GPS2,151851,4806.016,-12222.022,14,1.4,14,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.086,0.282
$KALMAN_X,-2429.9,-182.2,-47.9,5412.6,-47.7
$KALMAN_Y,2957.6,224.4,17.3,-7064.9,97.5
$MHEAD_RNG_PITCHd_Wd,324.8,3869,-14.9,-10.000
$D_GRID,108
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-195.5,0.0,0.0,0,148,0.00,0.00,-126.93,0.000,2,0.000,0.000,427,2223,2871
$GC,150,-1.17,-195.5,3.2,-2.3,17,205,12.65,2.55,-37.05,0.000,4,0.186,0.080,2663,821,3983
$GC,436,-1.17,-195.5,23.3,-7.0,66,443,0.00,2.42,0.00,0.000,6,0.000,0.044,2663,2233,3983
$GC,510,-1.17,-195.5,28.3,-6.5,79,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3983
$GC,583,-1.17,-195.5,33.4,-6.7,92,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2234,3982
$GC,726,-1.17,-195.5,42.8,-6.8,117,732,0.00,2.47,0.00,0.000,4,0.000,0.060,2663,823,3982
$GC,751,-1.17,-195.5,44.7,-7.2,121,757,0.00,2.40,0.00,0.000,6,0.000,0.043,2663,2233,3983
$GC,890,-1.17,-195.5,54.2,-6.6,146,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3982
$GC,1032,-1.17,-195.5,63.8,-6.4,171,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3982
$GC,1171,-1.17,-195.5,73.4,-6.8,196,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3982
$GC,1312,-1.17,-195.5,82.6,-6.3,221,1318,0.00,2.47,0.00,0.000,4,0.000,0.071,2663,3646,3982
$GC,1329,-1.17,-195.5,84.0,-7.3,224,1337,0.00,2.42,0.00,0.000,6,0.000,0.043,2663,2233,3982
$GC,1475,-1.17,-195.5,93.4,-6.5,249,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3982
$GC,1611,-1.17,-195.5,102.5,-6.8,274,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3982
$STATE,1700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1700,begin apogee
$GC,1704,-0.31,0.0,108.2,5.8,290,1805,0.90,0.00,96.80,0.652,6,0.102,0.000,2851,2232,3475
$STATE,1806,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1808,1.17,195.5,109.8,0.0,306,1966,1.48,0.00,151.85,0.620,6,0.064,0.000,3182,2232,2678
$GC,2103,1.17,195.5,78.8,13.8,355,2108,0.00,2.47,0.00,0.000,4,0.000,0.087,3182,3645,2676
$GC,2160,1.17,195.5,70.3,14.0,365,2166,0.00,2.42,0.00,0.000,6,0.000,0.044,3182,2226,2676
$GC,2299,1.17,195.5,51.3,13.1,390,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2226,2676
$GC,2443,1.17,195.5,32.8,13.0,415,2449,0.00,2.47,0.00,0.000,4,0.000,0.069,3182,3645,2676
$GC,2460,1.17,195.5,30.0,13.5,418,2468,0.00,2.42,0.00,0.000,6,0.000,0.044,3182,2240,2676
$GC,2535,1.17,195.5,20.4,13.1,431,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2240,2675
$GC,2610,1.17,195.5,11.4,11.5,444,2618,0.00,2.47,0.00,0.000,4,0.000,0.056,3182,3640,2675
$GC,2631,1.17,195.5,9.1,11.1,447,2639,0.00,2.42,0.00,0.000,6,0.000,0.044,3182,2235,2675
$GC,2707,1.38,363.5,3.4,4.2,460,2829,0.15,0.00,118.80,0.558,2,0.064,0.000,3228,2235,2059
$STATE,2830,end climb,SURFACE_DEPTH_REACHED
$STATE,2830,begin surface coast
$FINISH,0.4,1.004180
$STATE,3022,end surface coast,CONTROL_FINISHED_OK
$STATE,3022,begin surface
$SM_CCo,3041,157.60,0.551,0,0,1232,550.21
$SM_GC,1.21,0.00,0.00,157.60,0.000,0.000,0.551,429,2229,1232,-11.48,-0.14,550.21
$IRIDIUM_FIX,4751.72,-12405.58,080597,151552
$TT8_MAMPS,0.026078
$HUMID,1142
$INTERNAL_PRESSURE,10.9054
$TCM_TEMP,12.30
$XPDR_PINGS,310
$24V_AH,23.7,2.717
$10V_AH,10.1,1.885
$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,27.475,29.450,367.450,157.600,0.000,47.287,184.767,233.976,79.000,0.000,0.000,15.491,759.887,413.546,521.948,1568.781,563.180,33.326,1153.384,0.000,1581.854,0.000,10.181
$DEVICE_MAMPS,185.614,87.438,651.950,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.980,246.585,351.769,592.435,1248.737,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41502,511
$CAP_FILE_SIZE,52314,0
$CFSIZE,260165632,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120208,161407,4806.329,-12222.258,8,1.4,25,18.3