version: 66.02
glider: 144
mission: 2
dive: 21
start: 12 12 107 16 58 12
data:
$ID,144
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,51458
$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,720
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-938.24304
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2200
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$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,-2.6104116
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,54
$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,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,165044,4806.417,-12222.296,12,1.3,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.6
$GPS2,165747,4806.487,-12222.322,17,4.5,36,18.3
$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,325.1,2924,-14.9,-10.000
$D_GRID,108
$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,-1.17,-195.5,0.0,0.0,0,80,0.00,0.00,-60.97,0.000,2,0.000,0.000,499,2200,2435
$GC,83,-1.17,-195.5,3.1,-2.5,11,152,10.65,2.53,-51.72,0.000,4,0.162,0.073,2492,793,3953
$GC,405,-1.17,-195.5,22.9,-8.5,68,411,0.00,2.40,0.00,0.000,6,0.000,0.047,2492,2203,3953
$GC,479,-1.17,-195.5,28.6,-7.3,81,486,0.00,2.47,0.00,0.000,4,0.000,0.059,2492,792,3953
$GC,739,-1.17,-195.5,51.9,-9.1,127,745,0.00,2.40,0.00,0.000,6,0.000,0.045,2492,2202,3952
$GC,880,-1.17,-195.5,64.0,-8.1,152,886,0.00,2.45,0.00,0.000,4,0.000,0.059,2492,793,3952
$GC,1049,-1.17,-195.5,78.9,-8.6,182,1056,0.00,2.40,0.00,0.000,6,0.000,0.045,2492,2208,3953
$GC,1191,-1.17,-195.5,90.6,-8.8,207,1197,0.00,2.47,0.00,0.000,4,0.000,0.059,2492,792,3952
$GC,1282,-1.17,-195.5,98.5,-9.4,223,1288,0.00,2.40,0.00,0.000,6,0.000,0.045,2492,2205,3952
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1402,-0.31,0.0,108.3,8.0,244,1493,0.88,0.00,86.15,0.690,6,0.097,0.000,2681,2206,3503
$STATE,1494,end apogee,CONTROL_FINISHED_OK
$STATE,1494,begin climb
$GC,1496,1.17,195.5,110.6,0.0,261,1656,1.42,2.45,150.20,0.665,4,0.069,0.058,3004,3595,2705
$GC,1729,1.17,196.1,94.5,10.0,304,1736,0.00,2.40,0.00,0.000,6,0.000,0.041,3004,2182,2705
$GC,1871,1.19,214.6,81.0,9.4,329,1893,0.00,0.00,16.27,0.620,6,0.000,0.000,3004,2181,2627
$GC,2028,1.20,218.2,65.9,9.9,357,2034,0.00,0.00,4.55,0.479,6,0.000,0.000,3004,2182,2613
$GC,2169,1.22,237.6,52.9,9.3,382,2191,0.00,0.00,16.65,0.610,6,0.000,0.000,3004,2182,2533
$GC,2326,1.25,260.3,38.4,9.2,410,2354,0.00,2.53,18.70,0.605,4,0.000,0.056,3004,3590,2440
$GC,2370,1.25,260.3,33.9,10.1,418,2377,0.00,2.38,0.00,0.000,6,0.000,0.040,3004,2180,2440
$GC,2512,1.29,296.6,21.0,8.7,443,2547,0.15,2.53,29.12,0.601,4,0.064,0.056,3048,777,2292
$GC,2581,1.29,296.6,12.8,12.5,455,2588,0.00,2.40,0.00,0.000,6,0.000,0.042,3048,2197,2291
$GC,2655,1.29,296.6,4.9,10.4,468,2661,0.00,2.42,0.00,0.000,4,0.000,0.057,3048,3598,2291
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,2.9,1.017133
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2727,330.62,0.583,0,0,567,720.20
$SM_GC,1.32,0.00,0.00,330.62,0.000,0.000,0.583,498,2194,567,-10.38,-0.17,720.20
$IRIDIUM_FIX,4748.51,-12224.57,121207,191913
$TT8_MAMPS,0.026078
$HUMID,1638
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,18.00
$XPDR_PINGS,154
$24V_AH,23.7,3.241
$10V_AH,10.1,1.291
$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,24.225,39.000,321.650,330.625,0.000,39.561,36.473,234.514,38.500,0.000,0.000,39.008,679.017,860.890,693.762,870.049,398.358,0.000,1159.169,0.000,849.797,0.000,0.471
$DEVICE_MAMPS,161.837,72.865,690.300,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,323.344,225.537,0.000,527.471,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25521,477
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121207,175017,4806.669,-12222.655,13,2.1,32,18.3