version: 66.03
glider: 133
mission: 2
dive: 21
start: 9 17 108 11 43 25
data:
$ID,133
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,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,1.0275
$MASS,51844
$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,410
$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,-64256
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3715
$C_PITCH,2905
$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,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3795
$C_VBD,3285
$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,-20.474766
$PRESSURE_SLOPE,0.0001156489
$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,4.9000001
$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,0.0043775062
$SEABIRD_T_H,0.00063627085
$SEABIRD_T_I,2.5270951e-05
$SEABIRD_T_J,2.7297233e-06
$SEABIRD_C_G,-9.8534336
$SEABIRD_C_H,1.093644
$SEABIRD_C_I,-4.1897227e-05
$SEABIRD_C_J,0.00011108216
$GPS1,113902,4808.019,-12222.945,7,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.7
$GPS2,114303,4808.006,-12222.952,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.260
$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,241.5,60,-27.2,-10.000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.89,-63.0,0.0,0.0,0,98,0.00,0.00,-73.85,0.000,2,0.000,0.000,400,1842,3467
$GC,102,-1.92,-85.4,3.6,-7.6,14,126,11.62,2.58,-2.88,0.000,4,0.156,0.061,2476,451,3637
$GC,363,-1.92,-85.4,50.3,-15.2,60,369,0.00,2.38,0.00,0.000,6,0.000,0.028,2476,1855,3636
$GC,507,-1.92,-85.4,70.1,-13.5,85,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1859,3637
$GC,647,-1.92,-85.4,88.8,-12.7,110,653,0.00,2.42,0.00,0.000,4,0.000,0.042,2476,3243,3637
$GC,710,-1.92,-85.4,97.3,-13.6,121,716,0.00,2.42,0.00,0.000,6,0.000,0.034,2476,1852,3637
$GC,852,-1.92,-85.4,116.1,-13.3,146,858,0.00,2.53,0.00,0.000,4,0.000,0.051,2476,440,3637
$STATE,1008,end dive,NO_VERTICAL_VELOCITY
$STATE,1008,begin apogee
$GC,1020,-0.33,0.0,117.4,0.0,174,1094,1.60,0.00,69.90,0.851,6,0.054,0.000,2832,1913,3285
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1098,1.92,85.4,117.4,0.0,188,1179,2.17,2.53,69.47,0.829,4,0.046,0.042,3327,3285,2936
$GC,1432,1.92,85.4,88.3,10.3,248,1439,0.00,2.45,0.00,0.000,6,0.000,0.035,3327,1893,2936
$GC,1575,1.93,92.2,74.7,9.3,273,1587,0.00,2.55,7.00,0.679,4,0.000,0.041,3327,3291,2909
$GC,1731,1.93,93.9,59.6,9.8,300,1737,0.00,2.45,0.00,0.000,6,0.000,0.035,3327,1892,2909
$GC,1874,1.95,104.7,46.6,8.8,325,1890,0.00,0.00,11.77,0.742,6,0.000,0.000,3327,1892,2858
$GC,2026,1.96,117.4,32.8,8.6,352,2043,0.00,0.00,12.00,0.739,6,0.000,0.000,3327,1892,2806
$GC,2112,1.96,117.4,24.4,10.3,367,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1892,2805
$GC,2186,1.97,122.0,17.0,9.5,380,2198,0.00,0.00,5.47,0.616,6,0.000,0.000,3327,1892,2786
$GC,2267,1.97,124.5,9.0,9.7,394,2280,0.00,2.62,3.72,0.493,4,0.000,0.053,3327,495,2777
$GC,2298,1.97,124.7,5.9,10.0,399,2305,0.00,2.40,0.00,0.000,6,0.000,0.031,3327,1896,2777
$STATE,2320,end climb,SURFACE_DEPTH_REACHED
$STATE,2320,begin surface coast
$FINISH,2.8,1.020791
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2391,149.40,0.768,1,0,1612,410.14
$SM_GC,0.87,0.00,0.00,149.40,0.000,0.000,0.768,401,1840,1612,-11.52,-0.28,410.14
$IRIDIUM_FIX,4751.72,-12340.51,121297,111126
$TT8_MAMPS,0.027612
$HUMID,1903
$INTERNAL_PRESSURE,9.16774
$TCM_TEMP,17.80
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,90.6,33.7
$24V_AH,23.4,2.262
$10V_AH,10.1,0.952
$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,28.625,29.925,179.350,149.400,0.000,24.944,32.518,91.410,5.500,0.000,0.000,13.514,622.682,777.261,400.704,731.840,272.010,0.000,780.754,0.000,732.581,0.000,10.044
$DEVICE_MAMPS,155.701,80.535,850.603,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.449,453.546,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19133,411
$CAP_FILE_SIZE,40933,0
$CFSIZE,260165632,257286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,170908,122638,4807.945,-12223.214,8,1.9,8,18.3