version: 66.02
glider: 104
mission: 2
dive: 24
start: 1 10 108 17 51 20
data:
$ID,104
$MISSION,2
$DIVE,24
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34033.059
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2410
$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,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,3424
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-17.435352
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$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,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,174552,4806.931,-12222.405,7,9.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,0.8
$GPS2,175029,4806.963,-12222.428,15,7.0,34,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.100,0.224
$KALMAN_X,-6763.5,454.1,-80.1,7932.0,76.3
$KALMAN_Y,10870.5,-132.1,38.6,-12906.5,-32.7
$MHEAD_RNG_PITCHd_Wd,317.7,2046,-14.8,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.17,-146.6,0.0,0.0,0,122,0.00,0.00,-95.70,0.000,2,0.000,0.000,42,2057,3078
$GC,126,-1.17,-146.6,3.6,-5.4,17,162,12.00,2.55,-16.98,0.000,4,0.158,0.068,2148,3466,3938
$GC,415,-1.17,-146.6,36.8,-9.1,52,421,0.00,2.47,0.00,0.000,6,0.000,0.041,2148,2053,3937
$GC,612,-1.17,-146.6,54.7,-9.2,69,616,0.00,2.55,0.00,0.000,4,0.000,0.055,2148,3467,3937
$GC,868,-1.17,-146.6,78.5,-9.2,80,875,0.00,2.50,0.00,0.000,6,0.000,0.041,2148,2055,3937
$GC,1187,-1.17,-146.6,107.5,-8.9,99,1191,0.00,2.53,0.00,0.000,4,0.000,0.055,2148,3463,3937
$STATE,1240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1240,begin apogee
$GC,1249,-0.33,0.0,112.6,8.8,103,1356,0.90,0.00,98.85,0.735,6,0.086,0.000,2332,2045,3424
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,1.17,146.6,115.6,0.0,114,1482,1.52,2.65,113.97,0.706,4,0.058,0.066,2663,652,2826
$GC,1736,1.17,146.6,76.9,12.1,140,1741,0.00,2.42,0.00,0.000,6,0.000,0.039,2663,2057,2825
$GC,2054,1.17,146.6,41.1,11.4,159,2059,0.00,2.58,0.00,0.000,4,0.000,0.072,2663,645,2825
$GC,2313,1.17,146.6,12.8,10.7,187,2320,0.00,2.45,0.00,0.000,6,0.000,0.039,2663,2058,2825
$GC,2390,1.41,344.8,9.0,0.8,200,2551,0.20,2.62,151.68,0.644,4,0.040,0.071,2723,650,2017
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,0.0,1.018391
$STATE,2723,end surface coast,CONTROL_FINISHED_OK
$STATE,2723,begin surface
$SM_CCo,2747,84.05,0.591,3,0,1385,500.17
$SM_GC,0.39,0.00,0.00,84.05,0.000,0.000,0.591,43,2066,1385,-10.89,0.40,500.17
$IRIDIUM_FIX,4748.51,-12224.57,100108,202003
$TT8_MAMPS,0.026845
$HUMID,1634
$INTERNAL_PRESSURE,8.78183
$TCM_TEMP,19.50
$XPDR_PINGS,69
$ALTIM_BOTTOM_PING,80.9,41.7
$24V_AH,23.4,2.796
$10V_AH,10.1,1.111
$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,26.725,30.350,364.500,84.050,0.000,39.869,32.637,95.009,18.250,0.000,0.000,36.442,409.939,1226.375,467.318,766.642,268.579,33.304,872.803,0.000,741.785,0.000,8.518
$DEVICE_MAMPS,158.002,72.098,734.786,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.018,175.056,500.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12777,258
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,100108,184021,4806.962,-12222.439,37,2.4,56,18.3