version: 66.02
glider: 142
mission: 1
dive: 22
start: 12 12 107 17 2 28
data:
$ID,142
$MISSION,1
$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,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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51743
$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,718
$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,-2806.7522
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,489
$PITCH_MAX,3769
$C_PITCH,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3900
$C_ROLL_DIVE,1880
$C_ROLL_CLIMB,1911
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3462
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-1.3166192
$PRESSURE_SLOPE,9.0153007e-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,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,39
$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,0.0043513491
$SEABIRD_T_H,0.00063632627
$SEABIRD_T_I,2.5804644e-05
$SEABIRD_T_J,2.896036e-06
$SEABIRD_C_G,-9.8351879
$SEABIRD_C_H,1.1181455
$SEABIRD_C_I,-0.00074309122
$SEABIRD_C_J,0.00015430861
$GPS1,165559,4806.256,-12222.361,8,4.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.5
$GPS2,170205,4806.308,-12222.386,11,6.6,30,18.3
$SPEED_LIMITS,0.173,0.295
$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,328.1,3225,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-195.5,0.0,0.0,0,92,0.00,0.00,-72.30,0.000,2,0.000,0.000,486,1869,2442
$GC,94,-1.27,-195.5,3.2,-5.1,13,174,11.35,2.50,-59.90,0.000,4,0.143,0.082,2549,479,3967
$GC,426,-1.27,-195.5,28.1,-10.8,72,433,0.00,2.35,0.00,0.000,6,0.000,0.051,2549,1878,3967
$GC,501,-1.27,-195.5,35.3,-9.9,85,507,0.00,2.47,0.00,0.000,4,0.000,0.071,2549,482,3967
$GC,759,-1.27,-195.5,62.4,-10.7,131,765,0.00,2.35,0.00,0.000,6,0.000,0.041,2549,1895,3967
$GC,900,-1.27,-195.5,75.8,-9.3,156,906,0.00,2.47,0.00,0.000,4,0.000,0.067,2549,481,3967
$GC,1136,-1.27,-195.5,100.8,-10.5,198,1143,0.00,2.35,0.00,0.000,6,0.000,0.039,2549,1881,3966
$STATE,1180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1184,-0.34,0.0,105.3,9.8,206,1287,0.95,0.00,99.07,0.995,6,0.080,0.000,2747,1883,3462
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1289,1.27,195.5,108.4,0.0,225,1452,1.62,2.58,153.68,0.965,4,0.059,0.055,3106,3317,2665
$GC,1531,1.27,195.5,89.0,11.8,269,1537,0.00,2.40,0.00,0.000,6,0.000,0.051,3106,1908,2664
$GC,1671,1.27,195.5,72.9,11.5,294,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1908,2664
$GC,1812,1.27,195.5,56.9,11.7,319,1818,0.00,2.42,0.00,0.000,4,0.000,0.054,3106,3315,2664
$GC,1847,1.27,195.5,52.9,11.6,325,1853,0.00,2.40,0.00,0.000,6,0.000,0.049,3106,1909,2664
$GC,1987,1.27,195.5,37.1,10.5,350,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1910,2664
$GC,2128,1.27,195.5,21.6,10.7,375,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1910,2664
$GC,2201,1.27,195.5,13.7,10.7,388,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1909,2665
$GC,2274,1.29,217.5,6.5,9.2,401,2299,0.00,2.50,18.98,0.865,4,0.000,0.054,3106,3311,2575
$STATE,2303,end climb,SURFACE_DEPTH_REACHED
$STATE,2303,begin surface coast
$FINISH,3.1,1.017649
$STATE,2355,end surface coast,CONTROL_FINISHED_OK
$STATE,2355,begin surface
$SM_CCo,2375,400.17,0.891,0,0,534,718.24
$SM_GC,1.06,0.00,0.00,400.17,0.000,0.000,0.891,486,1871,534,-10.78,-0.25,718.24
$IRIDIUM_FIX,4748.51,-12224.57,121207,202006
$TT8_MAMPS,0.026845
$HUMID,1655
$INTERNAL_PRESSURE,7.93045
$TCM_TEMP,17.50
$XPDR_PINGS,71
$24V_AH,23.6,4.988
$10V_AH,10.2,1.650
$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,25.625,29.275,271.725,400.175,0.000,39.684,42.143,185.840,17.750,0.000,0.000,32.442,593.452,718.015,737.929,774.156,338.347,0.000,1152.204,0.000,760.375,0.000,0.467
$DEVICE_MAMPS,143.429,82.069,994.799,891.254,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BB2F,nil,nil,nil
$SENSOR_SECS,277.986,202.505,0.000,469.535,485.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31935,415
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,121207,174947,4806.505,-12222.663,9,99.0,28,18.3