version: 66.04
glider: 128
mission: 2
dive: 24
start: 10 15 108 15 34 51
data:
$ID,128
$MISSION,2
$DIVE,24
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1100
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51675
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,20
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-108195.42
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.435914
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206438
$SEABIRD_T_H,0.00063139666
$SEABIRD_T_I,2.5065803e-05
$SEABIRD_T_J,2.8780487e-06
$SEABIRD_C_G,-9.8634701
$SEABIRD_C_H,1.1197931
$SEABIRD_C_I,-0.0018544764
$SEABIRD_C_J,0.0002103937
$GPS1,152639,4807.963,-12223.188,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.2
$GPS2,153433,4807.935,-12223.174,9,1.9,9,18.3
$SPEED_LIMITS,0.173,0.215
$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,42.5,246,-27.8,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.47,-63.1,0.0,0.0,0,90,0.00,0.00,-68.72,0.000,6,0.000,0.000,52,2041,3009
$GC,96,-1.51,-96.7,4.1,-6.4,12,116,9.50,2.40,-2.85,0.000,4,0.222,0.057,2366,3461,3146
$GC,368,-1.51,-96.7,42.9,-12.8,72,374,0.00,2.30,0.00,0.000,6,0.000,0.031,2366,2045,3148
$GC,513,-1.51,-96.7,61.4,-12.6,103,519,0.00,2.38,0.00,0.000,4,0.000,0.045,2356,3466,3148
$GC,614,-1.51,-96.7,74.6,-12.8,124,620,0.00,2.28,0.00,0.000,6,0.000,0.031,2357,2050,3148
$GC,768,-1.51,-96.7,94.5,-13.7,155,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2049,3148
$STATE,886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,886,begin apogee
$GC,897,-0.25,0.0,111.2,11.9,181,977,1.40,0.00,72.05,0.802,6,0.142,0.000,2776,2046,2749
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,983,1.51,96.7,114.6,0.0,195,1063,1.67,0.00,72.30,0.740,6,0.063,0.000,3344,2046,2354
$GC,1205,1.51,96.7,90.5,13.8,239,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2046,2354
$GC,1350,1.51,96.7,70.8,13.9,270,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2046,2355
$GC,1494,1.51,96.7,51.3,13.6,301,1501,0.00,2.33,0.00,0.000,4,0.000,0.044,3344,3460,2355
$GC,1541,1.51,96.7,44.7,13.7,310,1547,0.00,2.30,0.00,0.000,6,0.000,0.032,3355,2046,2354
$GC,1682,1.51,96.7,26.5,13.2,341,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2045,2354
$GC,1756,1.51,96.7,16.2,12.8,357,1763,0.00,2.38,0.00,0.000,4,0.000,0.044,3355,3456,2354
$GC,1797,1.51,96.7,11.1,12.7,365,1803,0.00,2.25,0.00,0.000,6,0.000,0.031,3366,2045,2354
$STATE,1845,end climb,SURFACE_DEPTH_REACHED
$STATE,1845,begin surface coast
$FINISH,1.6,1.020417
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1923,120.20,0.691,0,0,1322,350.04
$SM_GC,1.60,0.00,0.00,120.20,0.000,0.000,0.691,45,2033,1322,-8.82,-0.51,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,141416
$TT8_MAMPS,0.026845
$HUMID,1631
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.4,35.5
$24V_AH,24.5,2.166
$10V_AH,10.8,1.228
$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,Compass2
$DEVICE_SECS,22.150,18.600,144.350,120.200,0.000,28.265,32.265,218.317,1.500,0.000,0.000,11.372,591.050,354.658,325.630,668.606,583.287,0.000,676.969,0.000,715.663,0.000,9.912,0.000
$DEVICE_MAMPS,221.663,56.758,801.515,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.400,441.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15888,387
$CAP_FILE_SIZE,38313,0
$CFSIZE,260165632,226111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,151008,160956,4807.986,-12222.897,7,1.2,12,18.3