version: 66.02
glider: 119
mission: 2
dive: 22
start: 10 30 107 16 40 28
data:
$ID,119
$MISSION,2
$DIVE,22
$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,-14337.527
$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,33
$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,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,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
$GPS1,163528,4808.005,-12223.165,32,1.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-74.4
$GPS2,163937,4808.015,-12223.174,25,2.0,25,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.187,-0.101
$KALMAN_X,1162.5,1079.6,-223.6,-2003.2,-682.9
$KALMAN_Y,31.7,-485.8,115.3,-12.1,455.0
$MHEAD_RNG_PITCHd_Wd,100.0,217,-12.5,-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,-0.73,-128.5,0.0,0.0,0,97,0.00,0.00,-77.15,0.000,2,0.000,0.000,1375,2204,2976
$GC,98,-0.75,-146.6,3.4,-4.2,14,139,11.73,2.40,-23.50,0.000,4,0.176,0.070,2997,822,3866
$GC,272,-0.75,-146.6,21.8,-10.0,43,281,0.00,2.33,0.00,0.000,6,0.000,0.048,2997,2212,3866
$GC,470,-0.75,-146.6,39.5,-8.9,62,474,0.00,2.40,0.00,0.000,4,0.000,0.069,2997,3622,3866
$GC,502,-0.75,-146.6,42.7,-9.5,64,510,0.00,2.33,0.00,0.000,6,0.000,0.042,2997,2220,3866
$GC,697,-0.75,-146.6,59.7,-8.6,78,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2220,3866
$GC,1006,-0.75,-146.6,86.2,-8.6,93,1010,0.00,2.40,0.00,0.000,4,0.000,0.069,2997,3624,3866
$GC,1054,-0.75,-146.6,90.7,-8.9,95,1059,0.00,2.30,0.00,0.000,6,0.000,0.042,2997,2225,3866
$STATE,1285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1285,begin apogee
$GC,1289,-0.23,0.0,110.4,8.7,112,1408,0.70,0.00,112.72,0.786,6,0.085,0.000,3116,2167,3266
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1410,0.75,146.6,113.6,0.0,124,1536,1.25,2.50,114.97,0.750,4,0.064,0.056,3328,789,2669
$GC,1547,0.75,146.6,107.7,10.1,137,1552,0.00,2.40,0.00,0.000,6,0.000,0.045,3328,2180,2669
$GC,1864,0.75,146.6,70.6,11.5,155,1868,0.00,2.38,0.00,0.000,4,0.000,0.055,3328,779,2669
$GC,1902,0.75,146.6,66.1,11.9,157,1906,0.00,2.33,0.00,0.000,6,0.000,0.044,3328,2188,2669
$GC,2229,0.75,146.6,30.4,10.6,181,2233,0.00,2.35,0.00,0.000,4,0.000,0.054,3328,786,2669
$GC,2267,0.75,146.6,26.2,11.2,184,2271,0.00,2.28,0.00,0.000,6,0.000,0.045,3328,2186,2669
$GC,2471,0.75,146.6,5.8,9.7,214,2478,0.00,2.35,0.00,0.000,4,0.000,0.066,3328,3579,2669
$STATE,2500,end climb,SURFACE_DEPTH_REACHED
$STATE,2500,begin surface coast
$FINISH,3.7,1.020022
$STATE,2561,end surface coast,CONTROL_FINISHED_OK
$STATE,2561,begin surface
$SM_CCo,2580,156.95,0.680,0,0,1227,500.17
$SM_GC,0.88,0.00,0.00,156.95,0.000,0.000,0.680,1375,2210,1227,-8.26,-0.28,500.17
$IRIDIUM_FIX,4751.72,-12225.30,301007,191936
$TT8_MAMPS,0.027612
$HUMID,1857
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,38.6
$24V_AH,24.2,2.762
$10V_AH,10.7,1.135
$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,24.500,33.025,227.700,156.950,0.000,38.729,35.874,95.879,1.000,0.000,0.000,27.201,390.226,1432.850,449.054,519.199,211.863,33.307,738.412,0.000,501.598,0.000,8.502
$DEVICE_MAMPS,176.410,120.419,786.175,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,159.050,168.720,387.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9709,230
$CFSIZE,260165632,258166784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301007,172707,4807.889,-12222.773,13,1.2,29,18.3