version: 66.04
glider: 500
mission: 1
dive: 18
start: 5 20 109 16 32 38
data:
$ID,500
$MISSION,1
$DIVE,18
$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,5
$T_NO_W,600
$USE_BATHY,-4
$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,1.0233001
$MASS,51563.898
$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,715.52844
$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,-3070.0317
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,1878
$C_ROLL_CLIMB,1878
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3392
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,400
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.923767
$PRESSURE_SLOPE,0.00011603366
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,161526,4807.890,-12223.955,12,1.8,12,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.3
$GPS2,163159,4807.998,-12223.998,13,3.0,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.259,0.024
$KALMAN_X,-493.1,-112.5,6.4,-1182.9,93.7
$KALMAN_Y,-2862.2,154.5,-179.7,1258.5,-48.0
$MHEAD_RNG_PITCHd_Wd,66.4,1234,-17.5,-10.000
$D_GRID,105
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.88,-146.6,0.0,0.0,0,76,0.00,0.00,-63.17,0.000,2,0.000,0.000,150,1868,2294
$GC,77,-0.88,-146.6,3.2,-4.0,12,137,9.75,2.17,-43.95,0.000,4,0.275,0.080,2428,468,3944
$GC,384,-0.88,-146.6,23.4,-9.8,80,389,0.00,2.17,0.00,0.000,6,0.000,0.056,2427,1881,3944
$GC,453,-0.88,-146.6,30.2,-9.8,96,459,0.00,2.20,0.00,0.000,4,0.000,0.067,2427,471,3945
$GC,602,-0.88,-146.6,47.9,-12.3,130,608,0.00,2.15,0.00,0.000,6,0.000,0.056,2427,1876,3944
$GC,737,-0.88,-146.6,63.2,-11.2,161,743,0.00,2.20,0.00,0.000,4,0.000,0.067,2427,3291,3945
$GC,772,-0.88,-146.6,67.2,-11.6,169,778,0.00,2.15,0.00,0.000,6,0.000,0.054,2427,1877,3945
$GC,908,-0.88,-146.6,82.3,-10.8,200,914,0.00,2.20,0.00,0.000,4,0.000,0.067,2427,3313,3945
$GC,956,-0.88,-146.6,87.4,-10.7,211,962,0.00,2.17,0.00,0.000,6,0.000,0.054,2427,1878,3944
$GC,1092,-0.88,-146.6,101.5,-10.8,242,1097,0.00,2.17,0.00,0.000,4,0.000,0.067,2427,3298,3944
$STATE,1125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1130,-0.20,0.0,105.1,10.7,250,1236,0.70,0.00,100.90,0.683,6,0.160,0.000,2647,1877,3392
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1237,0.88,146.6,108.1,0.0,270,1354,1.08,0.00,111.82,0.654,6,0.117,0.000,2997,1876,2794
$GC,1483,0.88,146.6,83.5,12.5,322,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1876,2793
$GC,1617,0.88,146.6,67.7,11.3,353,1623,0.00,2.22,0.00,0.000,4,0.000,0.067,2997,3277,2792
$GC,1648,0.88,146.6,63.9,12.8,360,1654,0.00,2.17,0.00,0.000,6,0.000,0.058,3006,1887,2792
$GC,1784,0.88,146.6,47.8,11.3,391,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1886,2792
$GC,1918,0.88,146.6,32.8,10.8,422,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1886,2792
$GC,1987,0.88,146.6,25.2,11.3,438,1993,0.00,2.20,0.00,0.000,4,0.000,0.068,3006,3287,2792
$GC,2009,0.88,146.6,22.8,10.9,443,2016,0.00,2.17,0.00,0.000,6,0.000,0.059,3013,1884,2792
$GC,2080,0.88,148.2,15.6,9.9,459,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1884,2792
$GC,2149,0.94,196.7,9.2,7.8,475,2192,0.00,2.25,36.97,0.615,4,0.000,0.072,3021,470,2590
$GC,2230,1.22,425.2,5.5,-0.5,492,2409,0.22,2.20,170.38,0.601,6,0.071,0.056,3119,1880,1658
$GC,2474,1.49,644.1,5.0,-0.1,541,2570,0.22,0.00,93.78,0.588,2,0.091,0.000,3199,1880,1161
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,2.1,1.013229
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2799,143.15,0.528,12,0,475,715.53
$SM_GC,1.68,0.00,0.00,143.15,0.000,0.000,0.528,152,1881,475,-8.02,0.08,715.53
$IRIDIUM_FIX,4748.51,-12221.84,140898,161656
$TT8_MAMPS,0.052156
$HUMID,1790
$INTERNAL_PRESSURE,7.95929
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.2,3.032
$10V_AH,10.6,0.940
$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,Compass2
$DEVICE_SECS,20.400,34.975,513.850,143.150,0.000,109.531,276.979,340.930,0.750,0.000,0.000,34.974,0.000,1374.147,742.395,1094.392,785.030,33.314,1275.150,0.000,887.599,0.000,5.894,0.000
$DEVICE_MAMPS,274.586,79.768,683.397,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18984,609
$CAP_FILE_SIZE,60620,0
$CFSIZE,260165632,258797568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,200509,172328,4807.942,-12223.635,10,6.7,29,18.3