version: 66.02
glider: 142
mission: 1
dive: 21
start: 12 12 107 16 8 9
data:
$ID,142
$MISSION,1
$DIVE,21
$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,650
$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,-2773.6802
$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,22
$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
$GPS1,155907,4806.115,-12222.002,8,1.4,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.1
$GPS2,160745,4806.199,-12222.065,10,1.5,10,18.3
$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,322.6,3530,-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,-1.27,-195.5,0.0,0.0,0,107,0.00,0.00,-87.60,0.000,2,0.000,0.000,483,1897,2401
$GC,109,-1.27,-195.5,3.2,-4.6,16,189,11.43,2.55,-59.38,0.000,4,0.146,0.081,2550,479,3966
$GC,441,-1.27,-195.5,28.4,-10.2,75,447,0.00,2.35,0.00,0.000,6,0.000,0.044,2550,1875,3966
$GC,516,-1.27,-195.5,35.3,-8.8,88,522,0.00,2.47,0.00,0.000,4,0.000,0.071,2550,476,3966
$GC,774,-1.27,-195.5,62.0,-10.2,134,781,0.00,2.38,0.00,0.000,6,0.000,0.041,2550,1904,3966
$GC,917,-1.27,-195.5,74.9,-9.0,159,922,0.00,2.50,0.00,0.000,4,0.000,0.067,2550,476,3966
$GC,1176,-1.27,-195.5,101.7,-10.6,205,1182,0.00,2.33,0.00,0.000,6,0.000,0.040,2550,1880,3966
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1246,-0.34,0.0,108.1,9.2,217,1352,0.95,0.00,99.12,0.996,6,0.081,0.000,2748,1883,3462
$STATE,1353,end apogee,CONTROL_FINISHED_OK
$STATE,1353,begin climb
$GC,1355,1.27,195.5,111.4,0.0,237,1517,1.62,2.58,153.65,0.965,4,0.059,0.056,3108,3315,2665
$GC,1680,1.27,195.5,81.4,11.8,296,1686,0.00,2.40,0.00,0.000,6,0.000,0.051,3108,1906,2664
$GC,1821,1.27,195.5,65.3,11.8,321,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1907,2664
$GC,1961,1.27,195.5,49.3,11.6,346,1968,0.00,2.45,0.00,0.000,4,0.000,0.056,3108,3325,2664
$GC,1995,1.27,195.5,45.5,11.0,352,2002,0.00,2.42,0.00,0.000,6,0.000,0.049,3107,1917,2664
$GC,2137,1.27,195.5,30.0,10.9,377,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1916,2664
$GC,2210,1.27,195.5,21.7,11.0,390,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1916,2664
$GC,2283,1.27,195.5,13.8,10.7,403,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1916,2664
$GC,2356,1.27,196.1,6.2,10.0,416,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1916,2664
$STATE,2382,end climb,SURFACE_DEPTH_REACHED
$STATE,2383,begin surface coast
$FINISH,3.9,1.016831
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2447,361.05,0.894,0,0,812,650.04
$SM_GC,1.17,0.00,0.00,361.05,0.000,0.000,0.894,486,1870,812,-10.78,-0.28,650.04
$IRIDIUM_FIX,4748.51,-12221.84,121207,202035
$TT8_MAMPS,0.026845
$HUMID,1677
$INTERNAL_PRESSURE,7.94998
$TCM_TEMP,17.50
$XPDR_PINGS,79
$24V_AH,23.6,4.798
$10V_AH,10.2,1.592
$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,25.700,24.475,252.775,361.050,0.000,82.012,65.512,232.538,19.750,0.000,0.000,11.924,613.608,813.837,698.578,769.452,454.336,0.000,1120.738,0.000,776.691,0.000,0.466
$DEVICE_MAMPS,145.730,130.390,995.566,894.322,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BB2F,nil,nil,nil
$SENSOR_SECS,289.827,214.550,0.000,483.340,491.236,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31910,429
$CFSIZE,260165632,258248704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,121207,165559,4806.256,-12222.361,8,4.7,27,18.3