version: 66.02
glider: 142
mission: 1
dive: 23
start: 12 12 107 17 56 20
data:
$ID,142
$MISSION,1
$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,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,-2820.3691
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,174947,4806.505,-12222.663,9,99.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.2
$GPS2,175556,4806.562,-12222.697,11,1.8,11,18.3
$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,333.7,2689,-14.9,-10.000
$D_GRID,104
$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,-195.5,0.0,0.0,0,125,0.00,0.00,-104.55,0.000,2,0.000,0.000,487,1871,2826
$GC,127,-1.27,-195.5,3.0,-2.4,19,192,11.35,2.42,-46.50,0.000,4,0.144,0.072,2547,3281,3963
$GC,445,-1.27,-195.5,26.6,-9.5,75,451,0.00,2.40,0.00,0.000,6,0.000,0.051,2547,1876,3964
$GC,518,-1.27,-195.5,33.7,-9.6,88,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1876,3964
$GC,659,-1.27,-195.5,46.9,-9.8,113,665,0.00,2.45,0.00,0.000,4,0.000,0.069,2547,475,3964
$GC,833,-1.27,-195.5,65.5,-10.8,144,840,0.00,2.38,0.00,0.000,6,0.000,0.042,2547,1875,3964
$GC,975,-1.27,-195.5,78.7,-9.2,169,981,0.00,2.47,0.00,0.000,4,0.000,0.069,2547,471,3964
$GC,1071,-1.27,-195.5,88.7,-10.7,186,1078,0.00,2.38,0.00,0.000,6,0.000,0.040,2547,1888,3964
$GC,1213,-1.27,-195.5,101.9,-9.3,211,1219,0.00,2.47,0.00,0.000,4,0.000,0.066,2547,474,3964
$STATE,1235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1235,begin apogee
$GC,1241,-0.34,0.0,104.2,10.0,215,1344,0.98,0.00,98.60,0.992,6,0.082,0.000,2749,1913,3462
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1345,begin climb
$GC,1346,1.27,195.5,107.8,0.0,234,1509,1.65,2.50,153.77,0.961,4,0.061,0.055,3104,3306,2665
$GC,1609,1.27,195.5,85.2,11.8,282,1616,0.00,2.38,0.00,0.000,6,0.000,0.050,3104,1907,2664
$GC,1751,1.27,195.5,68.6,12.2,307,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1906,2664
$GC,1891,1.27,195.5,52.0,11.9,332,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1906,2664
$GC,2032,1.27,195.5,36.3,11.1,357,2038,0.00,2.42,0.00,0.000,4,0.000,0.055,3104,3316,2664
$GC,2077,1.27,195.5,31.2,10.9,365,2083,0.00,2.40,0.00,0.000,6,0.000,0.049,3104,1908,2664
$GC,2218,1.27,195.5,16.4,10.3,390,2224,0.00,2.47,0.00,0.000,4,0.000,0.072,3103,507,2664
$GC,2241,1.27,195.5,13.7,11.0,394,2248,0.00,2.35,0.00,0.000,6,0.000,0.046,3104,1913,2664
$GC,2315,1.28,208.0,6.4,9.6,407,2333,0.00,2.40,11.45,0.806,4,0.000,0.052,3104,3316,2614
$STATE,2343,end climb,SURFACE_DEPTH_REACHED
$STATE,2343,begin surface coast
$FINISH,3.5,1.018079
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2416,407.92,0.887,0,0,534,718.24
$SM_GC,1.10,0.00,0.00,407.92,0.000,0.000,0.887,484,1873,534,-10.79,-0.20,718.24
$IRIDIUM_FIX,4748.51,-12217.40,121207,202037
$TT8_MAMPS,0.026078
$HUMID,1655
$INTERNAL_PRESSURE,7.93045
$TCM_TEMP,17.50
$XPDR_PINGS,73
$24V_AH,23.7,5.179
$10V_AH,10.2,1.710
$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,25.650,38.800,263.825,407.925,0.000,40.404,36.027,212.914,18.250,0.000,0.000,12.987,606.335,718.171,761.282,764.036,364.216,0.000,1186.696,0.000,769.929,0.000,0.465
$DEVICE_MAMPS,144.196,72.098,992.498,887.419,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BB2F,nil,nil,nil
$SENSOR_SECS,282.982,210.385,0.000,481.613,494.305,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31873,421
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,121207,184409,4806.800,-12222.861,11,1.6,11,18.3