version: 66.02
glider: 143
mission: 2
dive: 23
start: 12 11 107 17 46 5
data:
$ID,143
$MISSION,2
$DIVE,23
$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,-2548.8516
$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
$GPS1,173907,4807.865,-12223.174,11,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.3
$GPS2,174539,4807.890,-12223.215,12,2.0,12,18.3
$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,34.1,336,-28.9,-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,15,begin dive
$GC,17,-2.08,-56.2,0.0,0.0,0,141,0.00,0.00,-120.47,0.000,2,0.000,0.000,498,2090,3592
$GC,143,-2.11,-81.6,3.5,-7.0,22,167,10.60,0.00,-6.78,0.000,6,0.170,0.000,2440,2090,3836
$GC,234,-2.12,-88.8,12.4,-9.1,38,242,0.00,2.40,-0.55,0.000,4,0.000,0.075,2439,3490,3866
$GC,406,-2.12,-88.8,34.8,-14.9,68,413,0.00,2.35,0.00,0.000,6,0.000,0.051,2440,2088,3866
$GC,548,-2.12,-88.8,56.8,-16.0,93,554,0.00,2.45,0.00,0.000,4,0.000,0.072,2440,679,3866
$GC,587,-2.12,-88.8,63.4,-16.8,100,593,0.00,2.38,0.00,0.000,6,0.000,0.051,2440,2094,3866
$GC,728,-2.12,-88.8,85.7,-15.7,125,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2094,3866
$STATE,839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,839,begin apogee
$GC,843,-0.35,0.0,103.6,15.8,145,924,1.85,0.00,72.55,1.001,6,0.123,0.000,2820,1992,3503
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,927,2.12,88.8,106.9,0.0,160,1008,2.40,2.47,70.53,0.811,4,0.071,0.069,3364,604,3141
$GC,1031,2.12,88.8,99.2,12.5,179,1037,0.00,2.35,0.00,0.000,6,0.000,0.046,3364,2004,3141
$GC,1172,2.12,88.8,80.7,13.5,204,1178,0.00,2.45,0.00,0.000,4,0.000,0.064,3363,596,3141
$GC,1240,2.12,88.8,71.1,14.9,216,1246,0.00,2.35,0.00,0.000,6,0.000,0.046,3363,2002,3141
$GC,1381,2.12,88.8,52.4,12.9,241,1387,0.00,2.45,0.00,0.000,4,0.000,0.064,3363,589,3141
$GC,1465,2.12,88.8,40.5,14.1,256,1472,0.00,2.38,0.00,0.000,6,0.000,0.045,3363,1999,3141
$GC,1607,2.12,88.8,22.4,11.8,281,1613,0.00,2.42,0.00,0.000,4,0.000,0.064,3364,594,3141
$GC,1709,2.12,88.8,9.2,12.4,299,1715,0.00,2.35,0.00,0.000,6,0.000,0.045,3363,2006,3141
$GC,1783,2.19,150.3,4.2,2.7,312,1817,0.00,0.00,32.53,0.989,2,0.000,0.000,3364,2006,2980
$STATE,1818,end climb,SURFACE_DEPTH_REACHED
$STATE,1818,begin surface coast
$FINISH,3.0,1.020928
$STATE,2070,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2071,begin surface
$SM_CCo,2091,445.90,0.761,0,0,730,680.22
$SM_GC,0.92,0.00,0.00,445.90,0.000,0.000,0.761,499,2097,730,-11.05,0.20,680.22
$IRIDIUM_FIX,4748.51,-12233.46,111207,202045
$TT8_MAMPS,0.021476
$HUMID,1641
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.50
$XPDR_PINGS,5
$24V_AH,23.6,4.600
$10V_AH,10.1,1.787
$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,27.750,29.050,175.600,445.900,0.000,37.718,34.223,234.476,1.250,0.000,0.000,13.586,549.299,635.843,718.725,662.738,384.822,0.000,1079.677,0.000,672.804,0.000,0.468
$DEVICE_MAMPS,170.274,79.001,1000.935,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,250.990,198.737,0.000,447.312,457.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28878,363
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111207,182929,4807.988,-12223.063,13,2.2,32,18.3