version: 66.02
glider: 140
mission: 2
dive: 22
start: 12 11 107 16 23 11
data:
$ID,140
$MISSION,2
$DIVE,22
$D_SURF,4
$D_FLARE,4
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51445
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,680
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2373.9426
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,170
$ROLL_MAX,3940
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3457
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-1.7017781
$PRESSURE_SLOPE,9.0994887e-05
$AD7714Ch0Gain,64
$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,0
$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
$DEVICE3,53
$DEVICE4,35
$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,0.0043383949
$SEABIRD_T_H,0.00063259009
$SEABIRD_T_I,2.4332165e-05
$SEABIRD_T_J,2.5442112e-06
$SEABIRD_C_G,-9.8722277
$SEABIRD_C_H,1.1011369
$SEABIRD_C_I,-0.00070075336
$SEABIRD_C_J,0.00014688425
$GPS1,161357,4808.033,-12223.940,34,2.1,53,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.5
$GPS2,162247,4808.047,-12223.978,10,2.2,29,18.3
$SPEED_LIMITS,0.100,0.295
$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,75.8,1212,-14.9,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.29,-195.5,0.0,0.0,0,138,0.00,0.00,-113.88,0.000,6,0.000,0.000,589,0,3979
$GC,140,-1.29,-195.5,4.7,-6.2,17,156,12.43,1.55,0.00,0.000,4,0.179,0.114,2703,3807,3980
$GC,392,-1.29,-195.5,26.3,-9.1,64,399,0.00,1.48,0.00,0.000,6,0.000,0.093,2703,0,3980
$GC,466,-1.29,-195.5,32.6,-8.8,77,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,0,3980
$GC,599,-1.29,-195.5,44.3,-8.5,102,607,0.00,0.10,0.00,0.000,4,0.000,0.121,2703,3123,3980
$GC,849,-1.29,-195.5,65.6,-8.7,148,857,0.00,0.10,0.00,0.000,6,0.000,0.117,2703,0,3980
$GC,989,-1.29,-195.5,77.6,-8.6,173,994,0.00,0.10,0.00,0.000,4,0.000,0.125,2703,3123,3980
$GC,1023,-1.29,-195.5,80.7,-8.8,179,1029,0.00,0.12,0.00,0.000,6,0.000,0.108,2703,0,3980
$GC,1158,-1.29,-195.5,92.2,-8.5,204,1166,0.00,1.50,0.00,0.000,4,0.000,0.104,2703,3799,3980
$STATE,1308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1308,begin apogee
$GC,1313,-0.35,0.0,105.3,9.0,231,1423,0.98,0.00,102.20,0.918,6,0.097,0.000,2903,0,3457
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1425,1.29,195.5,108.2,0.0,249,1584,1.65,0.12,152.93,0.862,4,0.067,0.114,3269,3120,2660
$GC,1804,1.29,195.5,66.2,12.7,315,1809,0.00,0.12,0.00,0.000,6,0.000,0.106,3269,0,2660
$GC,1938,1.29,195.5,48.1,13.0,340,1946,0.00,1.48,0.00,0.000,4,0.000,0.100,3269,3782,2660
$GC,2149,1.29,195.5,20.4,12.6,379,2157,0.00,1.40,0.00,0.000,6,0.000,0.086,3269,0,2660
$GC,2221,1.29,195.5,11.2,13.5,392,2229,0.00,0.08,0.00,0.000,4,0.000,0.127,3269,3114,2660
$STATE,2276,end climb,SURFACE_DEPTH_REACHED
$STATE,2276,begin surface coast
$FINISH,2.1,1.018090
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2308,begin surface
$SM_CCo,2327,381.48,0.779,1,0,683,680.22
$SM_GC,0.96,0.00,0.00,381.48,0.000,0.000,0.779,590,0,683,-11.04,-67.57,680.22
$IRIDIUM_FIX,4748.51,-12221.84,111207,202020
$TT8_MAMPS,0.02301
$HUMID,1508
$INTERNAL_PRESSURE,8.34016
$TCM_TEMP,17.90
$XPDR_PINGS,80
$24V_AH,23.6,4.490
$10V_AH,10.1,1.637
$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,27.075,9.675,255.125,381.475,0.000,78.971,69.981,227.301,20.000,0.000,0.000,30.279,597.117,380.265,653.847,1188.696,439.714,0.000,1110.943,0.000,736.364,0.000,0.469
$DEVICE_MAMPS,179.478,154.167,918.099,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,273.874,945.153,0.000,452.583,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22287,408
$CFSIZE,260165632,258334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111207,170903,4808.005,-12223.989,14,1.4,14,18.3