version: 66.03
glider: 137
mission: 2
dive: 19
start: 6 5 108 15 54 49
data:
$ID,137
$MISSION,2
$DIVE,19
$D_SURF,5
$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,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51666
$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,48.150002
$TGT_DEFAULT_LON,-122.36
$TGT_AUTO_DEFAULT,0
$SM_CC,750
$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,-11040.955
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3729
$C_PITCH,2617
$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,2250
$C_ROLL_CLIMB,2185
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3850
$C_VBD,3508
$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,-21.608009
$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,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
$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
$GPS1,154707,4807.213,-12223.247,7,1.5,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.4
$GPS2,155356,4807.300,-12223.300,10,1.7,15,18.3
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.008,0.260
$KALMAN_X,-1314.5,50.0,-49.2,652.0,169.0
$KALMAN_Y,943.1,-142.7,77.0,232.3,-108.0
$MHEAD_RNG_PITCHd_Wd,343.5,1348,-17.5,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.35,-146.6,0.0,0.0,0,94,0.00,0.00,-70.32,0.000,2,0.000,0.000,433,2241,2389
$GC,96,-1.35,-146.6,3.0,-2.1,13,165,10.05,2.53,-49.03,0.000,4,0.127,0.052,2318,3648,3853
$GC,404,-1.35,-146.6,21.8,-8.6,82,411,0.00,2.38,0.00,0.000,6,0.000,0.026,2319,2248,3854
$GC,475,-1.35,-146.6,27.9,-9.0,98,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2248,3854
$GC,546,-1.35,-146.6,34.5,-10.0,114,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2248,3854
$GC,617,-1.35,-146.6,41.3,-9.5,130,623,0.00,2.50,0.00,0.000,4,0.000,0.042,2319,3658,3854
$GC,661,-1.35,-146.6,45.9,-10.8,139,667,0.00,2.40,0.00,0.000,6,0.000,0.028,2319,2253,3854
$GC,806,-1.35,-146.6,59.5,-9.0,170,812,0.00,2.47,0.00,0.000,4,0.000,0.041,2319,3655,3854
$GC,854,-1.35,-146.6,64.2,-9.5,180,860,0.00,2.40,0.00,0.000,6,0.000,0.027,2319,2242,3855
$GC,999,-1.35,-146.6,76.8,-8.8,211,1005,0.00,2.50,0.00,0.000,4,0.000,0.044,2319,3652,3855
$GC,1042,-1.35,-146.6,80.8,-9.5,219,1047,0.00,2.40,0.00,0.000,6,0.000,0.035,2319,2248,3855
$GC,1185,-1.35,-146.6,93.5,-8.8,250,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2248,3855
$GC,1326,-1.35,-146.6,105.5,-8.7,281,1332,0.00,2.47,0.00,0.000,4,0.000,0.048,2319,3650,3855
$STATE,1391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1391,begin apogee
$GC,1399,-0.33,0.0,111.7,9.3,295,1473,1.05,0.00,68.70,0.777,6,0.083,0.000,2535,2179,3508
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1476,1.35,146.6,114.2,0.0,309,1598,1.70,2.55,114.07,0.759,4,0.053,0.040,2911,780,2910
$GC,1626,1.35,146.6,104.1,11.5,338,1633,0.00,2.42,0.00,0.000,6,0.000,0.034,2911,2187,2908
$GC,1769,1.35,146.6,88.4,10.9,369,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2187,2907
$GC,1911,1.35,146.6,72.5,11.2,400,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2187,2906
$GC,2054,1.35,146.6,56.5,11.3,431,2060,0.00,2.47,0.00,0.000,4,0.000,0.041,2910,785,2906
$GC,2083,1.35,146.6,53.2,11.1,437,2089,0.00,2.40,0.00,0.000,6,0.000,0.037,2910,2186,2906
$GC,2226,1.37,165.3,39.3,9.1,468,2244,0.00,0.00,15.60,0.694,6,0.000,0.000,2911,2186,2834
$GC,2307,1.37,165.3,30.9,10.5,486,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2186,2833
$GC,2377,1.38,176.7,24.2,9.5,502,2394,0.00,2.50,10.57,0.668,4,0.000,0.049,2910,778,2787
$GC,2430,1.38,176.7,18.7,10.7,513,2437,0.00,2.42,0.00,0.000,6,0.000,0.031,2910,2186,2786
$GC,2501,1.40,193.8,11.9,9.2,529,2518,0.00,0.00,15.12,0.690,6,0.000,0.000,2910,2186,2717
$GC,2583,1.53,297.7,6.2,5.2,547,2673,0.15,2.50,82.97,0.700,4,0.056,0.041,2951,3594,2293
$STATE,2687,end climb,SURFACE_DEPTH_REACHED
$STATE,2687,begin surface coast
$FINISH,5.1,1.018946
$STATE,2759,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2759,begin surface
$SM_CCo,2762,365.77,0.670,3,0,425,756.26
$SM_GC,1.87,11.32,0.00,0.00,0.036,0.000,0.000,429,2247,420,-10.00,-0.08,757.49
$IRIDIUM_FIX,4751.72,-12340.51,300897,141443
$TT8_MAMPS,0.028379
$HUMID,1901
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,80.1,41.3
$24V_AH,23.3,75.602
$10V_AH,10.1,51.320
$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,24.275,44.250,307.050,365.775,0.000,22.439,36.114,235.719,4.500,0.000,0.000,17.131,842.995,576.476,752.135,1068.286,436.579,33.328,1299.060,0.000,1055.621,0.000,5.460
$DEVICE_MAMPS,127.322,52.156,776.971,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.650,712.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,583
$CAP_FILE_SIZE,58704,0
$CFSIZE,260165632,254525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,050608,165007,4807.576,-12223.220,25,1.4,25,18.3