version: 66.02
glider: 101
mission: 2
dive: 21
start: 12 11 107 12 53 18
data:
$ID,101
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,62.5
$T_MISSION,80
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,650
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-140757.92
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3635
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2971
$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,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.587222
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,124907,4807.927,-12223.954,9,1.5,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,125259,4807.942,-12223.938,12,4.9,31,18.3
$SPEED_LIMITS,0.139,0.238
$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,66.4,1165,-14.7,-8.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.51,-146.6,0.0,0.0,0,113,0.00,0.00,-93.18,0.000,2,0.000,0.000,30,2356,2469
$GC,115,-1.51,-146.6,3.1,-1.0,17,177,10.95,0.00,-48.03,0.000,6,0.133,0.000,2087,2357,3570
$GC,245,-1.51,-146.6,9.1,-6.3,40,251,0.00,2.38,0.00,0.000,4,0.000,0.074,2087,3617,3571
$GC,448,-1.51,-146.6,27.8,-9.7,70,452,0.00,2.25,0.00,0.000,6,0.000,0.043,2087,2343,3570
$GC,644,-1.51,-146.6,44.7,-8.2,88,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2341,3570
$GC,845,-1.51,-146.6,60.5,-7.8,101,849,0.00,2.42,0.00,0.000,4,0.000,0.071,2087,3629,3571
$GC,1011,-1.51,-146.6,75.5,-9.7,108,1019,0.00,2.28,0.00,0.000,6,0.000,0.041,2087,2346,3570
$GC,1327,-1.51,-146.6,101.2,-8.0,124,1331,0.00,2.40,0.00,0.000,4,0.000,0.071,2087,3627,3571
$GC,1434,-1.51,-146.6,110.5,-9.0,133,1438,0.00,2.25,0.00,0.000,6,0.000,0.042,2087,2345,3571
$STATE,1460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1460,begin apogee
$GC,1464,-0.45,0.0,112.6,7.9,135,1583,1.08,0.00,113.88,0.831,6,0.077,0.000,2315,1950,2971
$STATE,1583,end apogee,CONTROL_FINISHED_OK
$STATE,1583,begin climb
$GC,1585,1.51,146.6,115.1,0.0,147,1708,1.95,0.00,113.62,0.788,6,0.054,0.000,2752,1950,2373
$GC,2027,1.51,146.6,58.1,14.4,176,2031,0.00,2.60,0.00,0.000,4,0.000,0.064,2753,3353,2373
$GC,2144,1.51,146.6,40.8,14.6,184,2148,0.00,2.45,0.00,0.000,6,0.000,0.038,2753,1955,2373
$GC,2342,1.51,146.6,14.0,13.0,206,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1955,2373
$GC,2415,1.51,146.6,5.6,11.5,219,2421,0.00,2.58,0.00,0.000,4,0.000,0.062,2753,3350,2373
$STATE,2437,end climb,SURFACE_DEPTH_REACHED
$STATE,2437,begin surface coast
$FINISH,3.5,1.020145
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2503,376.00,0.713,2,0,321,650.04
$SM_GC,1.10,0.00,0.00,376.00,0.000,0.000,0.713,27,2336,321,-11.00,-0.40,650.04
$IRIDIUM_FIX,4748.51,-12221.84,111207,161600
$TT8_MAMPS,0.026078
$HUMID,1725
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,81.0,40.9
$24V_AH,23.5,3.178
$10V_AH,10.1,1.326
$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,26.425,24.025,227.500,376.000,0.000,41.126,42.333,69.664,1.250,0.000,0.000,32.323,388.213,1291.330,703.946,568.642,190.095,0.000,1013.728,0.000,547.270,0.000,8.510
$DEVICE_MAMPS,133.458,74.399,830.661,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.941,168.745,398.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9736,231
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111207,134209,4808.016,-12223.727,10,1.9,10,18.3