version: 66.03
glider: 138
mission: 2
dive: 23
start: 9 18 108 13 53 0
data:
$ID,138
$MISSION,2
$DIVE,23
$D_SURF,5
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52060
$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,-157
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-5916.7544
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,436
$PITCH_MAX,3761
$C_PITCH,2830
$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,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3894
$C_VBD,3422
$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,-3.4718134
$PRESSURE_SLOPE,0.0001161078
$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,5
$ALTIM_SENSITIVITY,3
$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,0.0043603531
$SEABIRD_T_H,0.00063485908
$SEABIRD_T_I,2.482086e-05
$SEABIRD_T_J,2.6554371e-06
$SEABIRD_C_G,-9.9022598
$SEABIRD_C_H,1.1162066
$SEABIRD_C_I,-0.00084430829
$SEABIRD_C_J,0.0001615315
$GPS1,134844,4807.979,-12223.282,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-65.3
$GPS2,135239,4808.001,-12223.263,12,1.2,12,18.3
$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,72.0,325,-27.2,-10.000
$D_GRID,120
$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,18,begin dive
$GC,20,-1.78,-63.0,0.0,0.0,0,93,0.00,0.00,-70.82,0.000,2,0.000,0.000,428,2239,3637
$GC,96,-1.81,-88.1,3.0,-7.3,13,120,11.73,2.55,-3.05,0.000,4,0.167,0.054,2425,3643,3785
$GC,361,-1.81,-88.1,48.2,-15.7,74,368,0.00,2.40,0.00,0.000,6,0.000,0.029,2426,2245,3786
$GC,503,-1.81,-88.1,68.9,-14.8,99,509,0.00,2.50,0.00,0.000,4,0.000,0.043,2425,3650,3786
$GC,713,-1.81,-88.1,101.4,-15.5,144,719,0.00,2.40,0.00,0.000,6,0.000,0.029,2426,2248,3786
$GC,856,-1.92,-178.3,118.1,-0.4,169,863,0.00,2.50,-0.70,0.000,4,0.000,0.055,2425,3649,3900
$GC,1121,-1.94,-194.6,118.1,0.0,227,1127,0.00,2.40,0.00,0.000,6,0.000,0.028,2425,2244,3902
$GC,1262,-1.94,-194.6,118.1,0.0,252,1269,0.00,2.50,0.00,0.000,4,0.000,0.044,2426,3655,3902
$STATE,1505,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1505,begin apogee
$GC,1513,-0.31,0.0,118.1,0.0,306,1614,1.60,0.00,92.12,0.754,6,0.082,0.000,2757,1994,3421
$STATE,1614,end apogee,CONTROL_FINISHED_OK
$STATE,1614,begin climb
$GC,1616,1.94,194.6,118.0,0.0,325,1780,2.22,2.60,151.40,0.732,4,0.045,0.050,3254,592,2627
$GC,1790,1.94,194.6,103.6,17.3,358,1797,0.00,2.45,0.00,0.000,6,0.000,0.031,3254,2001,2625
$GC,1932,1.94,194.6,77.4,19.1,383,1938,0.00,2.47,0.00,0.000,4,0.000,0.041,3254,3406,2623
$GC,1985,1.94,194.6,67.6,18.2,394,1991,0.00,2.45,0.00,0.000,6,0.000,0.031,3254,1997,2623
$GC,2126,1.94,194.6,42.8,16.6,419,2132,0.00,2.50,0.00,0.000,4,0.000,0.041,3254,3399,2622
$GC,2222,1.94,194.6,26.0,17.2,441,2228,0.00,2.45,0.00,0.000,6,0.000,0.031,3254,1990,2622
$GC,2296,1.94,194.6,13.9,16.1,454,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1990,2622
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,0.4,1.020215
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,113.20,0.622,2,0,1791,400.08
$SM_GC,-0.15,0.00,0.00,113.20,0.000,0.000,0.622,429,2265,1791,-11.04,0.42,400.08
$IRIDIUM_FIX,4751.72,-12340.51,131297,131304
$TT8_MAMPS,0.026845
$HUMID,1909
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.4,2.204
$10V_AH,10.1,1.074
$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,28.325,35.575,243.525,113.200,0.000,22.823,35.867,95.195,2.000,0.000,0.000,14.054,689.056,608.024,407.929,844.041,231.632,0.000,833.921,0.000,834.352,0.000,15.710
$DEVICE_MAMPS,167.206,55.224,753.961,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.346,501.387,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22297,470
$CAP_FILE_SIZE,42388,0
$CFSIZE,260165632,256606208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180908,143614,4807.949,-12223.040,12,1.4,28,18.3