version: 66.02
glider: 143
mission: 2
dive: 21
start: 12 11 107 15 55 58
data:
$ID,143
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,51288
$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,-2521.2244
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,499
$PITCH_MAX,3809
$C_PITCH,2902
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.4
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3503
$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,-4.3673596
$PRESSURE_SLOPE,9.1624737e-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
$DEVICE5,87
$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,0.004347452
$SEABIRD_T_H,0.00063227763
$SEABIRD_T_I,2.3986022e-05
$SEABIRD_T_J,2.5175659e-06
$SEABIRD_C_G,-9.8894777
$SEABIRD_C_H,1.1048266
$SEABIRD_C_I,-0.001653178
$SEABIRD_C_J,0.00021673607
$GPS1,154915,4807.474,-12223.628,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.6
$GPS2,155533,4807.497,-12223.647,14,1.4,14,18.3
$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,22.4,1228,-14.9,-10.000
$D_GRID,103
$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,16,begin dive
$GC,18,-1.27,-195.5,0.0,0.0,0,108,0.00,0.00,-88.03,0.000,2,0.000,0.000,497,2085,3149
$GC,111,-1.27,-195.5,3.0,-4.6,16,157,11.55,2.45,-28.75,0.000,4,0.168,0.084,2619,689,3965
$GC,410,-1.27,-195.5,25.8,-10.7,69,417,0.00,2.35,0.00,0.000,6,0.000,0.050,2619,2093,3966
$GC,484,-1.27,-195.5,32.9,-9.4,82,491,0.00,2.45,0.00,0.000,4,0.000,0.069,2619,682,3965
$GC,711,-1.27,-195.5,55.8,-9.8,122,718,0.00,2.35,0.00,0.000,6,0.000,0.048,2619,2090,3965
$GC,853,-1.27,-195.5,68.8,-8.8,147,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2090,3965
$GC,993,-1.27,-195.5,81.1,-9.3,172,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2090,3965
$GC,1135,-1.27,-195.5,94.1,-9.1,197,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2090,3965
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1234,begin apogee
$GC,1238,-0.35,0.0,103.5,9.4,215,1336,0.95,0.00,91.60,0.939,6,0.107,0.000,2818,1997,3503
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1338,1.27,195.5,106.4,0.0,233,1505,1.60,2.50,154.82,0.831,4,0.075,0.074,3177,605,2705
$GC,1534,1.27,195.5,92.4,12.3,269,1540,0.00,2.35,0.00,0.000,6,0.000,0.046,3177,2003,2705
$GC,1674,1.27,195.5,76.2,11.9,294,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2006,2704
$GC,1815,1.27,195.5,59.9,11.4,319,1821,0.00,2.45,0.00,0.000,4,0.000,0.067,3176,598,2705
$GC,1865,1.27,195.5,53.5,12.5,328,1872,0.00,2.38,0.00,0.000,6,0.000,0.048,3177,2002,2704
$GC,2007,1.27,195.5,37.1,11.3,353,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2006,2705
$GC,2147,1.27,195.5,21.3,10.9,378,2153,0.00,2.42,0.00,0.000,4,0.000,0.067,3177,601,2705
$GC,2221,1.27,195.5,12.3,11.8,391,2227,0.00,2.33,0.00,0.000,6,0.000,0.044,3177,2001,2705
$GC,2294,1.27,195.5,4.2,11.0,404,2301,0.00,2.38,0.00,0.000,4,0.000,0.056,3177,3408,2704
$STATE,2305,end climb,SURFACE_DEPTH_REACHED
$STATE,2305,begin surface coast
$FINISH,2.5,1.018518
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2377,406.38,0.827,11,0,729,680.22
$SM_GC,0.95,0.00,0.00,406.38,0.000,0.000,0.827,494,2090,729,-11.07,0.00,680.22
$IRIDIUM_FIX,4738.89,-12612.29,111207,181850
$TT8_MAMPS,0.020709
$HUMID,1645
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.80
$XPDR_PINGS,5
$24V_AH,23.6,4.281
$10V_AH,10.1,1.673
$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,25.950,28.725,246.425,406.375,0.000,39.292,31.884,224.085,1.250,0.000,0.000,15.596,607.745,727.294,779.574,749.054,374.981,0.000,1186.964,0.000,756.230,0.000,0.469
$DEVICE_MAMPS,167.973,84.370,938.808,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.056,211.551,0.000,468.104,479.206,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31958,415
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,0
$GPS,111207,164403,4807.675,-12223.474,11,1.4,11,18.3