version: 66.02
glider: 104
mission: 2
dive: 23
start: 1 10 108 16 57 20
data:
$ID,104
$MISSION,2
$DIVE,23
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,100
$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,62.5
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33995.992
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,3322
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-17.435352
$PRESSURE_SLOPE,0.000115925
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$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,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,165123,4806.891,-12222.394,11,3.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,0.8
$GPS2,165629,4806.919,-12222.415,11,3.4,30,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.094,0.226
$KALMAN_X,-7382.5,688.6,-73.0,8328.4,-241.3
$KALMAN_Y,12668.2,-1015.9,-8.1,-13869.4,804.8
$MHEAD_RNG_PITCHd_Wd,319.0,2128,-14.8,-8.000
$D_GRID,150
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.17,-146.6,0.0,0.0,0,115,0.00,0.00,-89.85,0.000,2,0.000,0.000,41,2047,2992
$GC,118,-1.17,-146.6,3.6,-5.7,16,155,12.02,2.60,-19.40,0.000,4,0.159,0.067,2148,3462,3923
$GC,407,-1.17,-146.6,35.3,-9.3,53,414,0.00,2.50,0.00,0.000,6,0.000,0.040,2148,2051,3923
$GC,615,-1.17,-146.6,54.3,-9.4,71,619,0.00,2.55,0.00,0.000,4,0.000,0.054,2148,3465,3922
$GC,872,-1.17,-146.6,78.3,-8.9,82,878,0.00,2.50,0.00,0.000,6,0.000,0.040,2148,2049,3922
$GC,1190,-1.17,-146.6,105.9,-8.3,101,1194,0.00,2.53,0.00,0.000,4,0.000,0.054,2148,3459,3922
$STATE,1306,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1306,begin apogee
$GC,1315,-0.33,0.0,115.8,8.1,111,1434,0.88,0.00,115.28,0.736,6,0.084,0.000,2329,2043,3322
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1438,1.17,146.6,118.6,0.0,123,1560,1.55,2.62,114.22,0.703,4,0.059,0.065,2663,647,2723
$GC,1814,1.17,146.6,77.2,12.6,149,1819,0.00,2.42,0.00,0.000,6,0.000,0.039,2663,2054,2723
$GC,2133,1.17,146.6,40.2,11.7,168,2137,0.00,2.55,0.00,0.000,4,0.000,0.062,2663,651,2722
$GC,2393,1.17,146.6,10.4,10.4,198,2399,0.00,2.42,0.00,0.000,6,0.000,0.038,2663,2053,2723
$GC,2468,1.47,388.7,7.9,-0.8,211,2665,0.25,2.62,184.70,0.636,4,0.040,0.062,2733,654,1736
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,-0.5,1.018347
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2786,57.35,0.595,1,0,1282,500.17
$SM_GC,0.43,0.00,0.00,57.35,0.000,0.000,0.595,42,2057,1282,-10.89,0.14,500.17
$IRIDIUM_FIX,4748.51,-12142.57,100108,202018
$TT8_MAMPS,0.026845
$HUMID,1641
$INTERNAL_PRESSURE,8.77207
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.7,33.8
$24V_AH,23.4,2.701
$10V_AH,10.1,1.070
$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,26.825,30.325,414.200,57.350,0.000,40.178,32.430,128.111,1.500,0.000,0.000,33.285,404.724,1229.595,455.595,778.979,300.651,33.313,875.646,0.000,754.802,0.000,12.894
$DEVICE_MAMPS,158.769,67.496,735.553,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.809,174.061,508.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12845,262
$CFSIZE,260165632,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,100108,174552,4806.931,-12222.405,7,9.0,26,18.3