version: 66.03
glider: 137
mission: 2
dive: 27
start: 10 15 108 16 34 21
data:
$ID,137
$MISSION,2
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1010
$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,67
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51514
$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,20
$TGT_DEFAULT_LON,-159
$TGT_AUTO_DEFAULT,0
$SM_CC,360
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15370.363
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2596
$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,220
$ROLL_MAX,3918
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3850
$C_VBD,3332
$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,-21.948988
$PRESSURE_SLOPE,0.0001161082
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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,0.0043829796
$SEABIRD_T_H,0.00064033607
$SEABIRD_T_I,2.6896696e-05
$SEABIRD_T_J,3.076357e-06
$SEABIRD_C_G,-9.991785
$SEABIRD_C_H,1.1193115
$SEABIRD_C_I,-0.00069633877
$SEABIRD_C_J,0.0001443676
$GPS1,162917,4807.319,-12222.851,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.6
$GPS2,163356,4807.310,-12222.849,12,1.2,29,18.3
$SPEED_LIMITS,0.129,0.213
$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,333.4,1292,-14.9,-7.463
$D_GRID,107
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.14,-117.3,0.0,0.0,0,86,0.00,0.00,-64.28,0.000,2,0.000,0.000,428,2565,3293
$GC,89,-1.14,-117.3,3.0,-3.7,12,119,10.27,2.47,-14.20,0.000,4,0.130,0.056,2341,1150,3813
$GC,356,-1.14,-117.3,22.7,-5.8,74,363,0.00,2.40,0.00,0.000,6,0.000,0.042,2341,2543,3814
$GC,427,-1.14,-117.3,27.1,-6.2,90,434,0.00,2.40,0.00,0.000,4,0.000,0.034,2341,1149,3814
$GC,674,-1.14,-117.3,43.2,-6.5,148,680,0.00,2.42,0.00,0.000,6,0.000,0.041,2341,2556,3814
$GC,819,-1.14,-117.3,51.7,-6.0,179,825,0.00,2.42,0.00,0.000,4,0.000,0.041,2341,1144,3814
$GC,898,-1.14,-117.3,56.4,-6.0,196,904,0.00,2.42,0.00,0.000,6,0.000,0.033,2341,2554,3814
$GC,1042,-1.14,-117.3,64.8,-5.7,227,1047,0.00,2.40,0.00,0.000,4,0.000,0.050,2341,3906,3814
$GC,1130,-1.14,-117.3,70.8,-6.5,246,1137,0.00,2.30,0.00,0.000,6,0.000,0.025,2341,2534,3814
$GC,1276,-1.14,-117.3,78.7,-5.3,277,1282,0.00,2.45,0.00,0.000,4,0.000,0.046,2341,3907,3814
$GC,1325,-1.14,-117.3,81.9,-6.4,287,1331,0.00,2.28,0.00,0.000,6,0.000,0.024,2341,2546,3814
$GC,1470,-1.14,-117.3,89.7,-5.2,318,1476,0.00,2.42,0.00,0.000,4,0.000,0.046,2341,3911,3814
$GC,1519,-1.14,-117.3,92.8,-6.3,328,1526,0.00,2.28,0.00,0.000,6,0.000,0.024,2341,2543,3814
$GC,1665,-1.14,-117.3,100.7,-5.3,359,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2543,3814
$STATE,1782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1789,-0.33,0.0,107.2,5.3,385,1889,0.82,0.00,92.82,0.766,6,0.073,0.000,2517,2326,3332
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1892,1.14,117.3,108.2,0.0,404,1993,1.50,2.45,91.62,0.746,4,0.054,0.042,2841,939,2852
$GC,2009,1.14,117.3,98.8,10.6,426,2015,0.00,2.42,0.00,0.000,6,0.000,0.036,2841,2335,2851
$GC,2154,1.14,117.3,82.2,11.3,457,2160,0.00,2.47,0.00,0.000,4,0.000,0.044,2841,3737,2849
$GC,2184,1.14,117.3,78.3,12.1,463,2190,0.00,2.38,0.00,0.000,6,0.000,0.034,2841,2342,2849
$GC,2328,1.14,117.3,62.0,11.1,494,2334,0.00,2.47,0.00,0.000,4,0.000,0.045,2841,3737,2849
$GC,2368,1.14,117.3,57.0,11.8,502,2375,0.00,2.40,0.00,0.000,6,0.000,0.023,2841,2325,2848
$GC,2512,1.14,117.3,41.2,10.9,533,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2320,2849
$GC,2643,1.14,117.3,27.6,10.1,564,2649,0.00,2.53,0.00,0.000,4,0.000,0.053,2841,3743,2848
$GC,2690,1.14,117.3,22.7,11.2,574,2696,0.00,2.40,0.00,0.000,6,0.000,0.035,2841,2324,2849
$GC,2761,1.14,117.3,15.8,9.2,590,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2320,2849
$GC,2831,1.14,117.3,9.1,9.2,606,2837,0.00,2.50,0.00,0.000,4,0.000,0.046,2841,3737,2848
$GC,2865,1.14,117.3,6.4,7.9,613,2871,0.00,2.38,0.00,0.000,6,0.000,0.031,2841,2324,2849
$STATE,2918,end climb,SURFACE_DEPTH_REACHED
$STATE,2918,begin surface coast
$FINISH,2.1,1.020105
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2995,117.28,0.663,1,0,1863,360.10
$SM_GC,1.46,0.00,0.00,117.28,0.000,0.000,0.663,432,2559,1863,-9.95,0.25,360.10
$IRIDIUM_FIX,4751.72,-12340.51,090198,151542
$TT8_MAMPS,0.028379
$HUMID,2015
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.60
$XPDR_PINGS,16
$24V_AH,23.3,2.351
$10V_AH,10.1,1.361
$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,23.475,53.775,184.450,117.275,0.000,22.924,37.297,111.904,4.000,0.000,0.000,31.383,974.360,569.758,395.881,1165.169,309.735,0.000,936.811,0.000,1145.894,0.000,0.465
$DEVICE_MAMPS,130.390,55.991,766.233,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.298,756.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28514,638
$CAP_FILE_SIZE,57195,0
$CFSIZE,260165632,254930944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,151008,172731,4807.474,-12222.871,18,1.5,35,18.3