version: 66.03
glider: 152
mission: 1
dive: 23
start: 4 25 108 15 33 25
data:
$ID,152
$MISSION,1
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51622
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4733.5732
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$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,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$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,-18.272327
$PRESSURE_SLOPE,0.0001162351
$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,0.69999999
$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,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,152715,4808.027,-12223.222,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.9
$GPS2,153227,4808.036,-12223.233,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.165,-0.072
$KALMAN_X,-947.8,-122.5,-5.3,1254.6,-51.3
$KALMAN_Y,-1301.2,-137.3,-103.2,2115.8,83.8
$MHEAD_RNG_PITCHd_Wd,95.3,296,-26.2,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.72,-67.9,0.0,0.0,0,93,0.00,0.00,-73.38,0.000,2,0.000,0.000,447,2359,2663
$GC,95,-1.79,-121.8,3.2,-4.7,12,153,11.98,2.58,-40.25,0.000,4,0.175,0.076,2581,3776,3886
$GC,318,-1.79,-121.8,27.2,-12.5,60,325,0.00,2.35,0.00,0.000,6,0.000,0.035,2581,2375,3887
$GC,389,-1.79,-121.8,36.1,-13.7,76,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2373,3887
$GC,461,-1.79,-121.8,46.2,-14.5,92,468,0.00,2.50,0.00,0.000,4,0.000,0.065,2580,3771,3887
$GC,487,-1.79,-121.8,50.2,-15.6,97,493,0.00,2.33,0.00,0.000,6,0.000,0.035,2581,2368,3887
$GC,626,-1.79,-121.8,71.0,-14.6,128,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2364,3887
$GC,768,-1.79,-121.8,91.5,-14.8,159,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2363,3888
$STATE,844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,848,-0.31,0.0,103.1,14.7,176,956,1.58,0.00,98.40,0.836,6,0.114,0.000,2900,2254,3388
$STATE,957,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,958,1.79,121.8,106.7,0.0,195,1064,2.10,0.00,97.15,0.806,6,0.077,0.000,3365,2254,2891
$GC,1195,1.79,121.8,76.9,15.8,244,1203,0.00,2.55,0.00,0.000,4,0.000,0.067,3364,3668,2890
$GC,1234,1.79,121.8,70.5,17.4,252,1241,0.00,2.35,0.00,0.000,6,0.000,0.039,3365,2300,2890
$GC,1377,1.79,121.8,48.3,15.4,283,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2300,2890
$GC,1511,1.79,121.8,28.2,14.7,314,1518,0.00,2.47,0.00,0.000,4,0.000,0.068,3365,3679,2890
$GC,1757,1.92,227.0,6.0,-0.4,372,1851,0.08,2.40,84.10,0.766,6,0.059,0.043,3390,2266,2461
$STATE,1873,end climb,SURFACE_DEPTH_REACHED
$STATE,1873,begin surface coast
$FINISH,3.7,1.019515
$STATE,2028,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2028,begin surface
$SM_CCo,2048,223.38,0.729,2,0,942,600.00
$SM_GC,1.60,0.00,0.00,223.38,0.000,0.000,0.729,445,2385,942,-11.64,0.28,600.00
$IRIDIUM_FIX,4751.72,-12249.54,200797,141448
$TT8_MAMPS,0.021476
$HUMID,1470
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,14.80
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,80.2,40.2
$24V_AH,23.6,3.832
$10V_AH,10.1,1.836
$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,29.025,19.850,279.650,223.375,0.000,25.496,25.880,180.667,5.500,0.000,0.000,13.340,617.613,138.291,532.139,1025.630,300.459,33.322,986.953,0.000,1029.034,0.000,5.453
$DEVICE_MAMPS,174.876,75.933,836.030,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,296.376,245.377,788.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22265,429
$CAP_FILE_SIZE,41187,0
$CFSIZE,260165632,257957888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,250408,161229,4808.007,-12222.993,8,2.2,27,18.3