version: 66.03
glider: 151
mission: 1
dive: 23
start: 4 30 108 15 5 38
data:
$ID,151
$MISSION,1
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,150
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51663
$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,-4099.583
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3701
$C_PITCH,2600
$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,247
$ROLL_MAX,3926
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3954
$C_VBD,3404
$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,61.200001
$PRESSURE_YINT,-23.203138
$PRESSURE_SLOPE,0.0001148558
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.5
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043511889
$SEABIRD_T_H,0.00063513592
$SEABIRD_T_I,2.430502e-05
$SEABIRD_T_J,2.5370914e-06
$SEABIRD_C_G,-10.00406
$SEABIRD_C_H,1.1117702
$SEABIRD_C_I,-0.0010280402
$SEABIRD_C_J,0.00016666186
$GPS1,145905,4806.764,-12222.736,11,2.7,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.1
$GPS2,150439,4806.747,-12222.699,10,1.9,10,18.3
$SPEED_LIMITS,0.173,0.244
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.057,0.237
$KALMAN_X,2765.8,394.6,26.3,-2594.3,50.6
$KALMAN_Y,-5347.9,-702.7,-52.8,3143.2,-60.6
$MHEAD_RNG_PITCHd_Wd,328.2,2350,-18.9,-10.000
$D_GRID,107
$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,17,-1.34,-127.1,0.0,0.0,0,120,0.00,0.00,-100.40,0.000,2,0.000,0.000,430,2508,3442
$GC,122,-1.34,-127.1,3.1,-2.6,17,154,10.25,0.00,-17.08,0.000,6,0.170,0.000,2305,2508,3923
$GC,218,-1.34,-127.1,9.2,-9.4,37,224,0.00,2.47,0.00,0.000,4,0.000,0.074,2305,3892,3924
$GC,422,-1.34,-127.1,32.8,-11.6,85,429,0.00,2.38,0.00,0.000,6,0.000,0.051,2305,2503,3924
$GC,494,-1.34,-127.1,40.8,-11.4,101,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2503,3924
$GC,631,-1.34,-127.1,55.9,-10.6,132,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2503,3924
$GC,771,-1.34,-127.1,71.4,-11.1,163,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2503,3924
$GC,910,-1.34,-127.1,86.5,-10.7,194,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2502,3924
$GC,1049,-1.34,-127.1,101.4,-10.9,225,1055,0.00,2.47,0.00,0.000,4,0.000,0.075,2305,3902,3924
$GC,1074,-1.34,-127.1,104.2,-11.8,230,1081,0.00,2.38,0.00,0.000,6,0.000,0.052,2305,2507,3924
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1103,-0.31,0.0,107.2,11.2,235,1208,1.08,0.00,99.57,0.788,6,0.119,0.000,2524,2384,3404
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1209,begin climb
$GC,1210,1.34,127.1,110.2,0.0,254,1315,1.65,0.00,98.40,0.732,6,0.082,0.000,2886,2384,2885
$GC,1448,1.34,127.1,86.5,12.6,303,1454,0.00,2.53,0.00,0.000,4,0.000,0.076,2886,3799,2884
$GC,1477,1.34,127.1,82.6,13.2,309,1483,0.00,2.40,0.00,0.000,6,0.000,0.061,2886,2406,2884
$GC,1616,1.34,127.1,64.9,12.0,340,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2406,2884
$GC,1756,1.34,127.1,47.9,12.1,371,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2406,2884
$GC,1890,1.34,127.1,31.9,12.2,402,1897,0.00,2.50,0.00,0.000,4,0.000,0.077,2886,3793,2884
$GC,1912,1.34,127.1,29.3,11.8,406,1919,0.00,2.42,0.00,0.000,6,0.000,0.058,2886,2397,2884
$GC,1983,1.34,127.1,21.3,11.0,422,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2397,2884
$GC,2054,1.34,127.1,14.1,10.2,438,2061,0.00,2.53,0.00,0.000,4,0.000,0.081,2886,3796,2884
$GC,2101,1.34,127.1,8.4,11.9,448,2108,0.00,2.42,0.00,0.000,6,0.000,0.061,2886,2399,2884
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,2.7,1.017240
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2232,350.48,0.668,2,0,1038,580.13
$SM_GC,1.35,0.00,0.00,350.48,0.000,0.000,0.668,434,2505,1038,-9.96,0.14,580.13
$IRIDIUM_FIX,4754.94,-12451.31,250797,141443
$TT8_MAMPS,0.028379
$HUMID,1466
$INTERNAL_PRESSURE,8.91442
$TCM_TEMP,15.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.2,43.6
$24V_AH,23.6,3.466
$10V_AH,10.1,1.599
$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,23.800,24.875,197.975,350.475,0.000,27.396,26.035,206.541,3.250,0.000,0.000,12.459,706.903,238.328,630.562,1046.676,327.099,33.331,1090.911,0.000,1048.560,0.000,5.454
$DEVICE_MAMPS,170.274,84.370,787.709,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,325.054,226.534,747.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25352,474
$CAP_FILE_SIZE,47755,0
$CFSIZE,260165632,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,300408,154953,4806.938,-12222.793,8,2.9,27,18.3