version: 66.03
glider: 5
mission: 2
dive: 21
start: 4 30 108 16 24 54
data:
$ID,5
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,695
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-75680.219
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.435621
$PRESSURE_SLOPE,0.000115925
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,161927,4806.636,-12222.521,15,1.9,16,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-68.1
$GPS2,162407,4806.603,-12222.487,11,1.9,27,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.101,0.223
$KALMAN_X,4462.3,-711.9,33.9,-4187.3,448.2
$KALMAN_Y,-10300.1,1725.4,576.9,8188.3,-1115.7
$MHEAD_RNG_PITCHd_Wd,317.3,2665,-14.8,-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,41,end surface,CONTROL_FINISHED_OK
$STATE,41,begin dive
$GC,44,-1.22,-146.6,0.0,0.0,0,127,0.00,0.00,-80.47,0.000,2,0.000,0.000,425,2116,2490
$GC,131,-1.22,-146.6,3.1,-6.0,15,198,10.40,2.72,-46.83,0.000,4,0.134,0.083,2432,3560,3838
$GC,212,-1.22,-146.6,5.3,-4.7,29,218,0.00,2.60,0.00,0.000,6,0.000,0.064,2432,2148,3837
$GC,287,-1.22,-146.6,13.9,-11.7,42,293,0.00,2.60,0.00,0.000,4,0.000,0.077,2432,746,3837
$GC,379,-1.22,-146.6,25.8,-13.1,54,383,0.00,2.58,0.00,0.000,6,0.000,0.058,2432,2153,3837
$GC,577,-1.22,-146.6,49.8,-11.9,72,581,0.00,2.60,0.00,0.000,4,0.000,0.073,2432,3558,3838
$GC,632,-1.22,-146.6,56.6,-11.8,74,638,0.00,2.60,0.00,0.000,6,0.000,0.062,2432,2148,3838
$GC,951,-1.22,-146.6,92.3,-11.2,90,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2146,3838
$STATE,1166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1166,begin apogee
$GC,1172,-0.33,0.0,116.3,11.0,107,1292,0.88,0.00,115.65,0.849,6,0.082,0.000,2623,2130,3239
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1296,1.22,146.6,120.0,0.0,119,1423,1.55,2.67,113.93,0.813,4,0.056,0.071,2967,741,2640
$GC,1446,1.22,146.6,109.1,13.0,133,1451,0.00,2.60,0.00,0.000,6,0.000,0.055,2966,2158,2641
$GC,1775,1.22,146.6,67.3,12.5,152,1779,0.00,2.60,0.00,0.000,4,0.000,0.070,2966,3564,2641
$GC,1830,1.22,146.6,59.8,13.4,154,1836,0.00,2.60,0.00,0.000,6,0.000,0.061,2966,2149,2640
$GC,2153,1.22,146.6,21.2,11.3,181,2157,0.00,2.62,0.00,0.000,4,0.000,0.071,2966,3558,2640
$GC,2204,1.22,146.6,15.4,11.3,188,2210,0.00,2.60,0.00,0.000,6,0.000,0.064,2967,2146,2640
$GC,2279,1.22,146.6,7.6,10.4,201,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2146,2640
$STATE,2322,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,3.6,1.017037
$STATE,2391,end surface coast,CONTROL_FINISHED_OK
$STATE,2391,begin surface
$SM_CCo,2414,373.45,0.736,2,0,405,695.18
$SM_GC,0.67,0.00,0.00,373.45,0.000,0.000,0.736,425,2130,405,-10.47,-0.54,695.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1582
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,92.3,33.1
$24V_AH,23.9,3.243
$10V_AH,10.0,1.037
$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,24.225,31.400,229.575,373.450,0.000,37.758,36.348,99.376,2.000,0.000,0.000,30.035,379.159,1226.205,692.883,514.967,277.470,33.311,989.143,0.000,493.753,0.000,10.123
$DEVICE_MAMPS,134.225,82.836,849.069,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,148.653,158.160,381.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9733,221
$CAP_FILE_SIZE,33385,0
$CFSIZE,254472192,252637184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,300408,171255,4806.760,-12222.639,25,1.4,43,18.3