version: 66.02
glider: 119
mission: 2
dive: 20
start: 10 30 107 14 37 20
data:
$ID,119
$MISSION,2
$DIVE,20
$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,80
$T_MISSION,95
$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,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.299999
$TGT_DEFAULT_LON,-157.8
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14293.42
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1379
$PITCH_MAX,3813
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3878
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3879
$C_VBD,3267
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-3.8181691
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0.004348367
$SEABIRD_T_H,0.00063394889
$SEABIRD_T_I,2.4089732e-05
$SEABIRD_T_J,2.5198262e-06
$SEABIRD_C_G,-10.04077
$SEABIRD_C_H,1.1285373
$SEABIRD_C_I,-0.0022196125
$SEABIRD_C_J,0.00025642588
$GPS1,143209,4808.196,-12223.782,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.5
$GPS2,143629,4808.221,-12223.801,15,2.2,34,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.171,-0.091
$KALMAN_X,2102.8,1154.2,-220.2,-3787.4,160.9
$KALMAN_Y,-636.1,-523.8,114.3,1071.8,29.8
$MHEAD_RNG_PITCHd_Wd,99.6,1071,-14.2,-6.250
$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,-0.77,-103.6,0.0,0.0,0,91,0.00,0.00,-71.90,0.000,2,0.000,0.000,1375,2212,2856
$GC,93,-0.83,-146.6,3.5,-3.7,13,134,11.68,2.42,-24.23,0.000,4,0.179,0.069,2981,817,3867
$GC,241,-0.83,-146.6,20.0,-10.0,39,248,0.00,2.35,0.00,0.000,6,0.000,0.049,2981,2222,3867
$GC,310,-0.83,-146.6,26.7,-9.7,46,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2222,3867
$GC,501,-0.83,-146.6,44.4,-9.5,64,505,0.00,2.40,0.00,0.000,4,0.000,0.069,2981,3628,3867
$GC,555,-0.83,-146.6,49.9,-10.3,68,563,0.00,2.33,0.00,0.000,6,0.000,0.043,2981,2223,3867
$GC,747,-0.83,-146.6,68.1,-9.9,78,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2223,3867
$GC,1057,-0.83,-146.6,98.8,-10.1,93,1061,0.00,2.40,0.00,0.000,4,0.000,0.068,2981,3631,3866
$GC,1162,-0.83,-146.6,109.6,-9.4,102,1167,0.00,2.30,0.00,0.000,6,0.000,0.043,2981,2208,3866
$STATE,1411,end dive,NO_VERTICAL_VELOCITY
$STATE,1411,begin apogee
$GC,1414,-0.23,0.0,117.7,0.0,125,1534,0.77,0.00,113.10,0.792,6,0.059,0.000,3122,2202,3266
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1536,0.83,146.6,117.6,0.0,137,1659,1.33,2.55,115.47,0.755,4,0.062,0.056,3346,775,2669
$GC,1681,0.83,146.6,109.0,12.2,151,1685,0.00,2.42,0.00,0.000,6,0.000,0.045,3346,2188,2669
$GC,2008,0.83,146.6,68.7,12.1,170,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2188,2669
$GC,2321,0.83,146.6,31.8,11.2,192,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2189,2669
$GC,2517,0.83,146.6,9.8,10.2,218,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2188,2669
$GC,2592,0.84,158.4,4.3,5.8,231,2604,0.00,2.35,6.00,0.592,4,0.000,0.064,3346,3588,2620
$STATE,2608,end climb,SURFACE_DEPTH_REACHED
$STATE,2608,begin surface coast
$FINISH,4.3,1.021008
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2746,258.65,0.680,0,0,424,697.14
$SM_GC,0.62,11.25,0.00,0.00,0.042,0.000,0.000,1377,2212,431,-8.19,-0.23,695.92
$IRIDIUM_FIX,4751.72,-12221.84,301007,171744
$TT8_MAMPS,0.027612
$HUMID,1844
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,38.3
$24V_AH,24.2,2.577
$10V_AH,10.7,1.061
$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,25.025,23.925,234.575,258.650,0.000,35.755,35.769,100.064,1.000,0.000,0.000,37.100,426.973,1635.688,562.095,553.438,213.362,33.310,847.488,0.000,531.294,0.000,8.500
$DEVICE_MAMPS,179.478,69.030,791.544,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,177.801,191.824,435.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12833,258
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,301007,152957,4808.127,-12223.446,10,1.3,10,18.3