version: 66.02
glider: 14
mission: 2
dive: 23
start: 12 12 107 17 49 33
data:
$ID,14
$MISSION,2
$DIVE,23
$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,75
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-130858.97
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2378
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2948
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.060091
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,174303,4806.876,-12222.973,12,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.1
$GPS2,174839,4806.925,-12223.003,12,1.5,12,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.047,0.230
$KALMAN_X,-2884.5,24.0,-53.4,3347.4,179.2
$KALMAN_Y,7445.1,-259.6,125.8,-8930.1,-248.3
$MHEAD_RNG_PITCHd_Wd,330.1,1991,-14.5,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,46,-1.17,-146.4,0.0,0.0,0,132,0.00,0.00,-83.18,0.000,2,0.000,0.000,41,2180,2313
$GC,137,-1.17,-146.6,3.2,-2.7,16,208,11.80,2.50,-50.35,0.000,4,0.183,0.084,2115,806,3547
$GC,479,-1.17,-146.6,23.0,-6.8,73,485,0.00,2.42,0.00,0.000,6,0.000,0.061,2115,2202,3547
$GC,678,-1.17,-146.6,36.5,-6.9,92,682,0.00,2.50,0.00,0.000,4,0.000,0.071,2115,795,3547
$GC,848,-1.17,-146.6,47.9,-7.0,106,855,0.00,2.45,0.00,0.000,6,0.000,0.061,2116,2205,3547
$GC,1055,-1.17,-146.6,60.4,-6.0,118,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2205,3547
$GC,1362,-1.17,-146.6,78.3,-5.8,133,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2205,3547
$GC,1672,-1.17,-146.6,96.3,-5.8,148,1676,0.00,2.65,0.00,0.000,4,0.000,0.107,2115,3601,3547
$GC,1738,-1.17,-146.6,100.7,-6.6,151,1745,0.00,2.42,0.00,0.000,6,0.000,0.064,2115,2202,3547
$STATE,1912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1913,begin apogee
$GC,1921,-0.32,0.0,110.6,5.8,168,2038,0.90,0.00,112.12,0.782,6,0.108,0.000,2301,2304,2947
$STATE,2039,end apogee,CONTROL_FINISHED_OK
$STATE,2039,begin climb
$GC,2043,1.17,146.6,111.9,0.0,180,2160,1.48,0.00,112.03,0.754,6,0.071,0.000,2630,2304,2349
$GC,2474,1.17,146.6,47.6,16.6,207,2478,0.00,2.65,0.00,0.000,4,0.000,0.105,2630,3694,2350
$GC,2530,1.17,146.6,37.2,18.4,211,2536,0.00,2.45,0.00,0.000,6,0.000,0.065,2630,2302,2349
$GC,2735,1.17,146.6,6.9,12.7,238,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2302,2348
$STATE,2756,end climb,SURFACE_DEPTH_REACHED
$STATE,2756,begin surface coast
$FINISH,3.6,1.017892
$STATE,2791,end surface coast,CONTROL_FINISHED_OK
$STATE,2791,begin surface
$SM_CCo,2816,249.62,0.664,1,0,501,600.00
$SM_GC,1.93,0.00,0.00,249.62,0.000,0.000,0.664,42,2180,501,-10.75,-0.57,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1607
$TCM_TEMP,4.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,80.7,40.0
$24V_AH,23.8,3.106
$10V_AH,10.1,1.163
$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,25.775,20.375,224.150,249.625,0.000,32.538,41.642,153.200,1.250,0.000,0.000,14.289,430.500,1562.741,578.508,490.189,362.774,33.324,868.615,0.000,260.658,0.000,10.153
$DEVICE_MAMPS,182.546,107.380,782.340,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.688,225.784,427.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12793,248
$CFSIZE,254472192,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121207,184152,4807.144,-12223.203,7,2.6,27,18.3