version: 66.03
glider: 131
mission: 2
dive: 20
start: 9 17 108 11 14 23
data:
$ID,131
$MISSION,2
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$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,1.0275
$MASS,51789
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,22
$TGT_DEFAULT_LON,125
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-65541.047
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,407
$PITCH_MAX,3732
$C_PITCH,2790
$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,186
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2160
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3891
$C_VBD,3381
$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,-17.148169
$PRESSURE_SLOPE,0.0001160188
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0042925063
$SEABIRD_T_H,0.00062941079
$SEABIRD_T_I,2.4433986e-05
$SEABIRD_T_J,2.7274652e-06
$SEABIRD_C_G,-9.8685284
$SEABIRD_C_H,1.1068864
$SEABIRD_C_I,-0.0008852554
$SEABIRD_C_J,0.00015728801
$GPS1,110908,4808.098,-12223.100,30,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-64.5
$GPS2,111357,4808.094,-12223.097,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,127.3,211,-27.2,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.89,-63.0,0.0,0.0,0,144,0.00,0.00,-116.80,0.000,2,0.000,0.000,404,2169,3492
$GC,147,-1.93,-93.5,3.1,-6.8,22,172,10.93,2.67,-5.40,0.000,4,0.160,0.074,2364,755,3765
$GC,201,-1.93,-93.5,17.1,-19.3,31,208,0.00,2.50,0.00,0.000,6,0.000,0.044,2364,2157,3765
$GC,276,-1.93,-93.5,31.1,-19.5,44,283,0.00,2.58,0.00,0.000,4,0.000,0.058,2364,3574,3765
$GC,307,-1.93,-93.5,37.1,-20.9,49,313,0.00,2.47,0.00,0.000,6,0.000,0.036,2365,2159,3765
$GC,381,-1.93,-93.5,51.9,-19.6,62,388,0.00,2.62,0.00,0.000,4,0.000,0.065,2364,752,3765
$GC,416,-1.93,-93.5,59.0,-20.2,68,424,0.00,2.53,0.00,0.000,6,0.000,0.043,2365,2164,3765
$GC,562,-1.93,-93.5,87.7,-20.2,93,567,0.00,2.55,0.00,0.000,4,0.000,0.057,2365,3567,3765
$GC,585,-1.93,-93.5,92.4,-20.1,97,591,0.00,2.47,0.00,0.000,6,0.000,0.040,2365,2159,3765
$STATE,640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,647,-0.33,0.0,103.9,19.1,107,727,1.67,0.00,72.97,0.614,6,0.095,0.000,2712,2092,3381
$STATE,727,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,730,1.93,93.5,108.8,0.0,122,810,2.22,0.00,72.95,0.604,6,0.057,0.000,3214,2091,2999
$GC,947,2.04,183.2,112.6,0.4,161,1026,0.00,2.65,70.10,0.607,4,0.000,0.054,3214,3503,2633
$GC,1280,2.04,183.2,74.7,13.8,221,1286,0.00,2.50,0.00,0.000,6,0.000,0.040,3214,2101,2633
$GC,1422,2.04,183.2,57.3,12.0,246,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2100,2633
$GC,1564,2.04,183.2,40.7,11.9,271,1570,0.00,2.65,0.00,0.000,4,0.000,0.075,3214,692,2633
$GC,1616,2.04,183.2,34.2,12.1,280,1622,0.00,2.53,0.00,0.000,6,0.000,0.044,3214,2105,2633
$GC,1691,2.04,183.2,25.8,11.0,293,1697,0.00,2.55,0.00,0.000,4,0.000,0.070,3214,3501,2633
$GC,1789,2.04,183.2,14.1,12.0,310,1795,0.00,2.47,0.00,0.000,6,0.000,0.050,3214,2098,2632
$GC,1864,2.06,197.2,6.5,8.5,323,1882,0.10,0.00,12.18,0.518,6,0.061,0.000,3244,2094,2576
$STATE,1903,end climb,SURFACE_DEPTH_REACHED
$STATE,1903,begin surface coast
$FINISH,3.3,1.020903
$STATE,2007,end surface coast,CONTROL_FINISHED_OK
$STATE,2007,begin surface
$SM_CCo,2031,247.90,0.559,0,0,1240,525.19
$SM_GC,0.60,0.00,0.00,247.90,0.000,0.000,0.559,408,2165,1240,-10.96,0.14,525.19
$IRIDIUM_FIX,4751.72,-12340.51,121297,101055
$TT8_MAMPS,0.029146
$HUMID,1916
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,18.40
$XPDR_PINGS,88
$24V_AH,23.6,2.206
$10V_AH,10.1,0.921
$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,27.950,35.975,228.200,247.900,0.000,22.244,28.469,131.636,23.500,0.000,0.000,15.530,504.881,574.250,556.118,636.206,322.207,0.000,923.849,0.000,632.353,0.000,11.429
$DEVICE_MAMPS,159.536,234.702,614.367,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.522,410.519,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,348
$CAP_FILE_SIZE,39717,0
$CFSIZE,259952640,256266240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170908,115314,4807.989,-12222.946,12,1.5,12,18.3