version: 66.02
glider: 101
mission: 2
dive: 27
start: 12 11 107 17 20 29
data:
$ID,101
$MISSION,2
$DIVE,27
$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,-140911.75
$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,31
$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
$GPS1,171602,4808.084,-12223.148,12,1.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.1
$GPS2,172009,4808.105,-12223.177,11,1.9,11,18.3
$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,113.3,292,-27.3,-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,16,begin dive
$GC,17,-2.54,-44.5,0.0,0.0,0,135,0.00,0.00,-114.68,0.000,2,0.000,0.000,31,2362,2742
$GC,137,-2.59,-83.2,3.2,-3.3,21,177,9.77,2.38,-22.90,0.000,4,0.139,0.084,1850,3618,3311
$GC,217,-2.60,-95.2,7.2,-6.5,35,224,0.00,2.25,-1.52,0.000,6,0.000,0.041,1850,2334,3362
$GC,291,-2.60,-95.2,13.0,-8.7,48,297,0.00,2.40,0.00,0.000,4,0.000,0.069,1850,3617,3362
$GC,415,-2.60,-95.2,27.1,-13.2,65,419,0.00,2.22,0.00,0.000,6,0.000,0.041,1850,2352,3362
$GC,621,-2.60,-95.2,53.9,-12.9,83,625,0.00,2.50,0.00,0.000,4,0.000,0.052,1850,953,3362
$GC,697,-2.60,-95.2,64.4,-13.6,86,705,0.00,2.47,0.00,0.000,6,0.000,0.040,1850,2343,3362
$GC,1014,-2.60,-95.2,104.9,-12.9,103,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2343,3362
$STATE,1034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1034,begin apogee
$GC,1038,-0.45,0.0,107.7,13.3,105,1118,2.30,0.00,75.30,0.821,6,0.099,0.000,2313,1945,2971
$STATE,1119,end apogee,CONTROL_FINISHED_OK
$STATE,1119,begin climb
$GC,1120,2.60,95.2,110.1,0.0,113,1201,3.05,0.00,75.05,0.786,6,0.052,0.000,2990,1945,2582
$GC,1509,2.60,95.2,36.1,20.5,139,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1944,2582
$STATE,1675,end climb,SURFACE_DEPTH_REACHED
$STATE,1675,begin surface coast
$FINISH,2.6,1.020116
$STATE,1699,end surface coast,CONTROL_FINISHED_OK
$STATE,1700,begin surface
$SM_CCo,1720,343.40,0.707,0,0,320,650.04
$SM_GC,1.07,0.00,0.00,343.40,0.000,0.000,0.707,27,2357,320,-11.01,0.20,650.04
$IRIDIUM_FIX,4751.72,-12223.57,111207,202004
$TT8_MAMPS,0.026078
$HUMID,1735
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,18.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,81.0,36.0
$24V_AH,23.5,3.882
$10V_AH,10.1,1.494
$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,28.850,15.625,150.350,343.400,0.000,40.805,42.601,102.092,2.250,0.000,0.000,11.818,286.512,867.775,598.302,360.673,219.093,0.000,815.647,0.000,362.151,0.000,8.494
$DEVICE_MAMPS,138.827,83.603,821.457,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,111.688,118.785,286.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6504,166
$CFSIZE,260165632,258465792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111207,175553,4808.032,-12223.031,9,3.2,28,18.3