version: 66.03
glider: 154
mission: 2
dive: 22
start: 5 8 108 16 28 39
data:
$ID,154
$MISSION,2
$DIVE,22
$D_SURF,4
$D_FLARE,4
$D_TGT,133
$D_ABORT,250
$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,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,51763
$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,640
$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,-3969.269
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,444
$PITCH_MAX,3700
$C_PITCH,3041
$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,199
$ROLL_MAX,3887
$ROLL_DEG,40
$C_ROLL_DIVE,2345
$C_ROLL_CLIMB,2385
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,573
$VBD_MAX,3950
$C_VBD,3383
$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,-8.1640711
$PRESSURE_SLOPE,0.0001161789
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044036186
$SEABIRD_T_H,0.00064404216
$SEABIRD_T_I,2.7963701e-05
$SEABIRD_T_J,3.2536936e-06
$SEABIRD_C_G,-10.243672
$SEABIRD_C_H,1.1397039
$SEABIRD_C_I,-0.0013028119
$SEABIRD_C_J,0.00019525584
$GPS1,162233,4808.000,-12223.984,12,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.6
$GPS2,162739,4808.058,-12224.015,13,1.3,13,18.3
$SPEED_LIMITS,0.154,0.282
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.269,-0.086
$KALMAN_X,-998.7,-20.2,-102.5,-492.6,-40.2
$KALMAN_Y,-294.4,-66.1,53.1,2532.5,151.3
$MHEAD_RNG_PITCHd_Wd,89.5,1259,-13.1,-8.867
$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,16,begin dive
$GC,17,-1.06,-195.5,0.0,0.0,0,142,0.00,0.00,-121.93,0.000,2,0.000,0.000,446,2342,3607
$GC,144,-1.06,-195.5,4.2,-4.0,20,171,13.12,2.92,-8.20,0.000,4,0.178,0.149,2800,3754,3951
$GC,215,-1.06,-195.5,13.2,-7.3,34,222,0.00,2.65,0.00,0.000,6,0.000,0.087,2800,2345,3953
$GC,287,-1.06,-195.5,16.6,-4.5,50,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2345,3953
$GC,358,-1.06,-195.5,19.7,-4.5,66,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2345,3953
$GC,430,-1.06,-195.5,23.7,-5.3,82,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2345,3953
$GC,501,-1.06,-195.5,27.7,-5.8,98,508,0.00,2.90,0.00,0.000,4,0.000,0.138,2800,3756,3953
$GC,548,-1.06,-195.5,30.8,-6.6,108,555,0.00,2.65,0.00,0.000,6,0.000,0.092,2800,2348,3953
$GC,620,-1.06,-195.5,35.3,-6.2,124,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,3953
$GC,691,-1.06,-195.5,39.9,-6.6,140,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2348,3953
$GC,765,-1.06,-195.5,44.9,-6.9,156,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,3953
$GC,907,-1.06,-195.5,54.3,-6.6,187,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,3953
$GC,1045,-1.06,-195.5,63.4,-6.6,218,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,3953
$GC,1187,-1.06,-195.5,72.3,-6.0,249,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2348,3953
$GC,1327,-1.06,-195.5,81.3,-6.4,280,1334,0.00,2.65,0.00,0.000,4,0.000,0.087,2800,924,3953
$GC,1371,-1.06,-195.5,84.3,-7.0,289,1377,0.00,2.65,0.00,0.000,6,0.000,0.087,2800,2346,3952
$GC,1509,-1.06,-195.5,93.1,-6.2,320,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2346,3952
$GC,1652,-1.06,-195.5,101.9,-6.1,351,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2346,3952
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1675,-0.31,0.0,103.2,6.2,355,1793,0.77,0.00,110.03,0.752,6,0.094,0.000,2967,2387,3383
$STATE,1793,end apogee,CONTROL_FINISHED_OK
$STATE,1793,begin climb
$GC,1795,1.06,195.5,105.0,0.0,376,1960,1.38,2.75,151.98,0.716,4,0.086,0.094,3269,972,2585
$GC,1971,1.06,195.5,92.2,9.6,407,1977,0.00,2.70,0.00,0.000,6,0.000,0.093,3269,2383,2584
$GC,2109,1.06,195.5,78.1,10.3,438,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2383,2584
$GC,2250,1.06,195.5,63.8,9.9,469,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2383,2583
$GC,2388,1.06,195.5,50.5,9.3,500,2395,0.00,2.65,0.00,0.000,4,0.000,0.084,3269,966,2583
$GC,2416,1.06,195.5,48.1,9.5,505,2422,0.00,2.65,0.00,0.000,6,0.000,0.089,3269,2386,2583
$GC,2552,1.06,195.5,35.3,9.4,536,2560,0.00,3.00,0.00,0.000,4,0.000,0.158,3269,3788,2583
$GC,2574,1.06,195.5,33.1,10.1,540,2581,0.00,2.67,0.00,0.000,6,0.000,0.099,3269,2383,2584
$GC,2645,1.06,195.5,25.9,9.9,556,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2383,2583
$GC,2716,1.06,195.5,18.7,10.4,572,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2383,2583
$GC,2787,1.06,195.5,11.6,9.7,588,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2383,2584
$GC,2858,1.09,217.1,5.4,8.2,604,2879,0.00,0.62,18.27,0.690,3,0.000,0.094,3269,2052,2497
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,2.1,1.018309
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2959,332.70,0.660,0,0,772,640.23
$SM_GC,1.56,0.00,0.00,332.70,0.000,0.000,0.660,440,2349,772,-11.96,0.11,640.23
$IRIDIUM_FIX,4751.72,-12219.12,020897,151537
$TT8_MAMPS,0.027612
$HUMID,1556
$INTERNAL_PRESSURE,8.67994
$TCM_TEMP,13.50
$XPDR_PINGS,198
$ALTIM_BOTTOM_PING,80.1,38.9
$24V_AH,23.6,3.516
$10V_AH,10.1,1.830
$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,27.625,34.150,280.275,332.700,0.000,23.311,26.158,182.940,50.000,0.000,0.000,13.823,915.671,267.785,692.249,1434.325,312.875,33.319,1313.926,0.000,1438.813,0.000,5.447
$DEVICE_MAMPS,177.944,158.002,751.660,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,420.619,299.206,1046.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31659,621
$CAP_FILE_SIZE,60068,0
$CFSIZE,260165632,257228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,080508,172435,4807.977,-12223.533,11,2.2,30,18.3