version: 66.06
glider: 137
mission: 2
dive: 17
start: 3 25 110 11 30 31
data:
$ID,137
$MISSION,2
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,4
$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,63
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51789
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19
$TGT_DEFAULT_LON,118
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$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,-19653.105
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3704
$C_PITCH,3182
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,2110
$C_ROLL_CLIMB,2298
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,3360
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,87.199997
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-41.063343
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043824902
$SEABIRD_T_H,0.00063940306
$SEABIRD_T_I,2.6195787e-05
$SEABIRD_T_J,2.9108269e-06
$SEABIRD_C_G,-10.008641
$SEABIRD_C_H,1.1239522
$SEABIRD_C_I,-0.0018584576
$SEABIRD_C_J,0.00022167251
$GPS1,112436,4807.950,-12223.635,10,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.2
$GPS2,113014,4807.975,-12223.656,13,1.7,13,18.3
$SPEED_LIMITS,0.137,0.201
$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,68.4,813,-18.5,-7.937
$D_GRID,105
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.54,-97.3,0.0,0.0,0,166,0.00,0.00,-146.95,0.000,2,0.000,0.000,434,2105,3694,0,0,0,0,0,0
$GC,168,-1.54,-97.3,3.1,-2.9,27,186,13.20,0.00,-1.40,0.000,6,0.149,0.000,2835,2100,3758,0,0,0,0,0,0
$GC,252,-1.54,-97.3,15.5,-9.2,42,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2100,3759,0,0,0,0,0,0
$GC,322,-1.54,-97.3,21.1,-8.0,55,329,0.00,2.50,0.00,0.000,4,0.000,0.055,2835,3505,3759,0,0,0,0,0,0
$GC,367,-1.54,-97.3,25.0,-8.6,63,374,0.00,2.40,0.00,0.000,6,0.000,0.039,2835,2111,3759,0,0,0,0,0,0
$GC,439,-1.54,-97.3,31.0,-8.3,76,446,0.00,2.45,0.00,0.000,4,0.000,0.056,2835,713,3759,0,0,0,0,0,0
$GC,474,-1.54,-97.3,34.2,-9.2,82,481,0.00,2.40,0.00,0.000,6,0.000,0.038,2835,2105,3759,0,0,0,0,0,0
$GC,546,-1.54,-97.3,40.8,-9.4,95,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2105,3759,0,0,0,0,0,0
$GC,683,-1.54,-97.3,53.7,-9.6,120,690,0.00,2.47,0.00,0.000,4,0.000,0.058,2835,3506,3759,0,0,0,0,0,0
$GC,724,-1.54,-97.3,57.5,-9.7,127,729,0.00,2.38,0.00,0.000,6,0.000,0.031,2835,2110,3759,0,0,0,0,0,0
$GC,863,-1.54,-97.3,70.1,-8.9,152,869,0.00,2.47,0.00,0.000,4,0.000,0.047,2835,707,3760,0,0,0,0,0,0
$GC,886,-1.54,-97.3,72.3,-9.2,156,893,0.00,2.40,0.00,0.000,6,0.000,0.035,2835,2104,3760,0,0,0,0,0,0
$GC,1028,-1.54,-97.3,84.7,-9.0,181,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2105,3760,0,0,0,0,0,0
$GC,1168,-1.54,-97.3,98.0,-9.6,206,1175,0.00,2.47,0.00,0.000,4,0.000,0.048,2835,3508,3759,0,0,0,0,0,0
$GC,1203,-1.54,-97.3,101.2,-9.3,212,1210,0.00,2.40,0.00,0.000,6,0.000,0.031,2835,2112,3760,0,0,0,0,0,0
$STATE,1247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1247,begin apogee
$GC,1252,-0.38,0.0,105.2,8.5,220,1333,1.23,0.00,75.47,0.798,6,0.087,0.000,3090,2308,3360,0,0,0,0,0,0
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1337,1.54,97.3,107.1,0.0,235,1417,1.92,0.00,75.53,0.773,6,0.054,0.000,3517,2309,2962,0,0,0,0,0,0
$GC,1550,1.54,97.3,88.6,10.0,274,1557,0.00,2.50,0.00,0.000,4,0.000,0.044,3517,896,2959,0,0,0,0,0,0
$GC,1580,1.54,97.3,85.5,11.0,279,1586,0.00,2.40,0.00,0.000,6,0.000,0.042,3517,2291,2959,0,0,0,0,0,0
$GC,1720,1.54,97.3,70.2,10.7,304,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2291,2957,0,0,0,0,0,0
$GC,1860,1.54,97.3,55.2,10.7,329,1865,0.00,2.45,0.00,0.000,4,0.000,0.048,3517,886,2957,0,0,0,0,0,0
$GC,1894,1.54,97.3,51.3,11.5,335,1899,0.00,2.42,0.00,0.000,6,0.000,0.039,3517,2305,2957,0,0,0,0,0,0
$GC,2033,1.54,97.3,37.1,10.4,360,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2305,2956,0,0,0,0,0,0
$GC,2104,1.54,97.3,29.6,10.3,373,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2305,2957,0,0,0,0,0,0
$GC,2175,1.54,97.3,22.7,9.8,386,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2305,2956,0,0,0,0,0,0
$GC,2247,1.54,97.3,15.3,10.1,399,2253,0.00,2.47,0.00,0.000,4,0.000,0.047,3517,899,2957,0,0,0,0,0,0
$GC,2303,1.54,97.3,9.5,9.8,409,2309,0.00,2.42,0.00,0.000,6,0.000,0.038,3517,2298,2956,0,0,0,0,0,0
$GC,2376,1.58,126.3,4.0,6.4,422,2399,0.00,0.00,20.67,0.704,6,0.000,0.000,3517,2298,2845,0,0,0,0,0,0
$STATE,2404,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,1.6,1.020558
$STATE,2488,end surface coast,CONTROL_FINISHED_OK
$STATE,2488,begin surface
$SM_CCo,2509,86.22,0.067,0,0,2055,320.12
$SM_GC,1.34,0.00,0.00,86.22,0.000,0.000,0.067,431,2089,2055,-12.65,-0.62,320.12
$IRIDIUM_FIX,4751.72,-12223.57,190699,101001
$TT8_MAMPS,0.028379
$HUMID,34.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,15.10
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,85.5,36.2
$24V_AH,23.6,1.402
$10V_AH,10.5,1.108
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.300,39.650,171.675,86.225,0.000,25.123,29.024,189.293,4.000,0.000,14.562,659.720,538.208,349.445,1057.611,340.262,0.000,837.706,0.000,1054.942,0.000,9.934,0.000
$DEVICE_MAMPS,148.798,57.525,798.447,66.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.338,795.357,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,22283,442
$CAP_FILE_SIZE,55862,0
$CFSIZE,260165632,256851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250310,121437,4807.920,-12223.280,8,1.9,14,18.3