version: 66.06
glider: 137
mission: 2
dive: 23
start: 3 25 110 15 39 44
data:
$ID,137
$MISSION,2
$DIVE,23
$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,295
$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,-19819.117
$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,32
$R_STBD_OVSHOOT,37
$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
$GPS1,153349,4808.020,-12222.998,8,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.6
$GPS2,153928,4808.049,-12223.020,10,99.0,29,18.3
$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,146.8,94,-27.6,-7.937
$D_GRID,103
$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,12,begin dive
$GC,14,-2.18,-44.7,0.0,0.0,0,61,0.00,0.00,-44.78,0.000,2,0.000,0.000,432,2102,3178,0,0,0,0,0,0
$GC,64,-2.21,-69.4,3.2,-5.0,8,99,12.55,2.50,-13.48,0.000,4,0.151,0.064,2696,3501,3644,0,0,0,0,0,0
$GC,139,-2.21,-69.4,10.8,-11.8,21,145,0.00,2.40,0.00,0.000,6,0.000,0.038,2696,2110,3644,0,0,0,0,0,0
$GC,211,-2.21,-69.4,19.3,-11.2,34,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2110,3644,0,0,0,0,0,0
$GC,281,-2.21,-69.4,26.3,-9.9,47,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2110,3644,0,0,0,0,0,0
$GC,351,-2.21,-69.4,33.8,-11.3,60,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2110,3644,0,0,0,0,0,0
$GC,425,-2.21,-69.4,41.8,-11.3,73,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2111,3644,0,0,0,0,0,0
$GC,562,-2.21,-69.4,58.1,-11.7,98,569,0.00,2.47,0.00,0.000,4,0.000,0.047,2696,713,3645,0,0,0,0,0,0
$GC,596,-2.21,-69.4,62.3,-12.0,104,603,0.00,2.40,0.00,0.000,6,0.000,0.041,2696,2105,3645,0,0,0,0,0,0
$GC,737,-2.21,-69.4,78.7,-11.5,129,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2105,3644,0,0,0,0,0,0
$GC,878,-2.21,-69.4,94.6,-11.4,154,885,0.00,2.47,0.00,0.000,4,0.000,0.047,2696,3506,3644,0,0,0,0,0,0
$GC,919,-2.21,-69.4,99.5,-12.0,161,925,0.00,2.38,0.00,0.000,6,0.000,0.030,2696,2109,3645,0,0,0,0,0,0
$STATE,944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,944,begin apogee
$GC,949,-0.38,0.0,103.1,12.6,166,1010,1.95,0.00,54.85,0.796,6,0.100,0.000,3089,2310,3360,0,0,0,0,0,0
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1012,2.21,69.4,105.2,0.0,177,1072,2.58,0.00,53.92,0.773,6,0.052,0.000,3664,2310,3077,0,0,0,0,0,0
$GC,1203,2.21,69.4,84.5,13.6,212,1209,0.00,2.50,0.00,0.000,4,0.000,0.042,3664,896,3075,0,0,0,0,0,0
$GC,1226,2.21,69.4,81.2,13.6,216,1233,0.00,2.40,0.00,0.000,6,0.000,0.033,3664,2282,3074,0,0,0,0,0,0
$GC,1371,2.21,69.4,62.4,13.0,241,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,3665,2282,3074,0,0,0,0,0,0
$GC,1507,2.21,69.4,44.4,12.5,266,1514,0.00,2.45,0.00,0.000,4,0.000,0.049,3664,890,3074,0,0,0,0,0,0
$GC,1554,2.21,69.4,38.5,13.7,274,1560,0.00,2.42,0.00,0.000,6,0.000,0.039,3664,2291,3074,0,0,0,0,0,0
$GC,1626,2.21,69.4,29.4,12.3,287,1632,0.00,2.45,0.00,0.000,4,0.000,0.051,3664,900,3074,0,0,0,0,0,0
$GC,1666,2.21,69.4,24.4,12.8,294,1673,0.00,2.42,0.00,0.000,6,0.000,0.041,3664,2296,3074,0,0,0,0,0,0
$GC,1738,2.21,69.4,15.4,12.4,307,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3664,2296,3074,0,0,0,0,0,0
$GC,1809,2.21,69.4,8.3,9.1,320,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,3664,2296,3074,0,0,0,0,0,0
$GC,1880,2.26,111.1,4.5,3.0,333,1920,0.00,2.50,32.85,0.716,4,0.000,0.048,3664,886,2907,0,0,0,0,0,0
$GC,1987,2.33,166.7,3.6,1.3,352,2027,0.08,2.45,32.03,0.074,6,0.053,0.034,3690,2303,2680,0,0,0,0,0,0
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,2.9,1.020026
$STATE,2194,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2194,begin surface
$SM_CCo,2217,60.30,0.068,0,0,2157,295.10
$SM_GC,1.61,0.00,0.00,60.30,0.000,0.000,0.068,434,2091,2157,-12.65,-0.57,295.10
$IRIDIUM_FIX,4751.72,-12220.85,190699,151545
$TT8_MAMPS,0.027612
$HUMID,34.76
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,15.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,85.5,34.1
$24V_AH,23.5,1.695
$10V_AH,10.6,1.362
$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,32.025,34.850,173.650,60.300,0.000,23.308,28.127,181.008,3.250,0.000,31.475,606.733,459.716,271.779,967.917,321.796,0.000,690.432,0.000,948.619,0.000,9.910,0.000
$DEVICE_MAMPS,151.099,63.661,796.146,68.263,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.627,736.415,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,19124,390
$CAP_FILE_SIZE,51012,0
$CFSIZE,260165632,256684032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250310,161845,4807.919,-12222.999,8,99.0,27,18.3