version: 66.02
glider: 144
mission: 2
dive: 22
start: 12 12 107 18 1 20
data:
$ID,144
$MISSION,2
$DIVE,22
$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,-981.64508
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,175017,4806.669,-12222.655,13,2.1,32,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.8
$GPS2,180056,4806.771,-12222.724,41,1.2,41,18.3
$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,333.2,2301,-14.9,-10.000
$D_GRID,107
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-195.5,0.0,0.0,0,119,0.00,0.00,-98.20,0.000,2,0.000,0.000,498,2194,3003
$GC,121,-1.17,-195.5,3.1,-1.7,18,173,10.68,2.47,-34.05,0.000,4,0.163,0.071,2496,3608,3951
$GC,415,-1.17,-195.5,22.7,-8.5,70,421,0.00,2.38,0.00,0.000,6,0.000,0.043,2496,2199,3951
$GC,489,-1.17,-195.5,28.9,-8.0,83,495,0.00,2.45,0.00,0.000,4,0.000,0.061,2496,794,3951
$GC,546,-1.17,-195.5,33.8,-8.7,93,552,0.00,2.40,0.00,0.000,6,0.000,0.046,2496,2201,3951
$GC,687,-1.17,-195.5,45.7,-8.6,118,694,0.00,2.47,0.00,0.000,4,0.000,0.060,2496,791,3951
$GC,778,-1.17,-195.5,53.6,-8.2,134,784,0.00,2.40,0.00,0.000,6,0.000,0.046,2496,2202,3951
$GC,920,-1.17,-195.5,64.9,-8.1,159,926,0.00,2.47,0.00,0.000,4,0.000,0.060,2496,788,3951
$GC,1033,-1.17,-195.5,74.7,-8.6,179,1039,0.00,2.40,0.00,0.000,6,0.000,0.045,2496,2201,3951
$GC,1174,-1.17,-195.5,86.0,-7.4,204,1180,0.00,2.45,0.00,0.000,4,0.000,0.061,2496,794,3951
$GC,1242,-1.17,-195.5,91.7,-8.6,216,1248,0.00,2.38,0.00,0.000,6,0.000,0.045,2496,2201,3951
$GC,1383,-1.17,-195.5,103.1,-7.3,241,1389,0.00,2.47,0.00,0.000,4,0.000,0.060,2495,788,3951
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1439,-0.31,0.0,107.3,8.7,250,1531,0.85,0.00,86.68,0.689,6,0.098,0.000,2679,2190,3503
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1533,1.17,195.5,109.9,0.0,267,1694,1.45,2.47,151.07,0.663,4,0.071,0.055,3005,3600,2706
$GC,1744,1.17,195.5,95.6,10.3,306,1751,0.00,2.42,0.00,0.000,6,0.000,0.041,3005,2190,2705
$GC,1886,1.18,207.7,82.0,9.6,331,1903,0.00,2.47,11.23,0.602,4,0.000,0.056,3005,3595,2655
$GC,1920,1.18,207.7,78.5,10.3,337,1926,0.00,2.40,0.00,0.000,6,0.000,0.041,3005,2187,2655
$GC,2060,1.19,208.8,64.5,10.0,362,2067,0.00,2.42,0.00,0.000,4,0.000,0.058,3005,784,2655
$GC,2083,1.19,208.8,62.1,10.2,366,2090,0.00,2.38,0.00,0.000,6,0.000,0.041,3006,2194,2655
$GC,2225,1.20,223.3,48.5,9.5,391,2241,0.00,0.00,13.57,0.604,6,0.000,0.000,3006,2194,2592
$GC,2376,1.22,235.3,33.9,9.6,418,2393,0.00,0.00,11.10,0.586,6,0.000,0.000,3006,2195,2542
$GC,2528,1.24,253.3,19.5,9.4,445,2546,0.00,0.00,15.12,0.593,6,0.000,0.000,3005,2195,2469
$GC,2614,1.24,253.9,11.2,10.0,460,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2195,2469
$GC,2687,1.31,309.7,4.9,8.1,473,2701,0.15,0.00,11.05,0.570,2,0.064,0.000,3049,2195,2415
$STATE,2702,end climb,SURFACE_DEPTH_REACHED
$STATE,2702,begin surface coast
$FINISH,3.5,1.017411
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2764,353.58,0.585,0,0,566,720.20
$SM_GC,1.35,0.00,0.00,353.58,0.000,0.000,0.585,498,2197,566,-10.37,-0.08,720.20
$IRIDIUM_FIX,4748.51,-12220.12,121207,212153
$TT8_MAMPS,0.026078
$HUMID,1643
$INTERNAL_PRESSURE,8.28157
$TCM_TEMP,17.90
$XPDR_PINGS,160
$24V_AH,23.7,3.382
$10V_AH,10.1,1.343
$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,24.275,43.725,299.825,353.575,0.000,76.801,167.034,219.839,40.000,0.000,0.000,42.772,695.204,922.030,722.047,884.673,553.854,0.000,1200.481,0.000,862.017,0.000,0.473
$DEVICE_MAMPS,162.604,71.331,688.766,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,327.391,232.545,0.000,539.554,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28629,483
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121207,185403,4807.039,-12222.988,11,1.5,11,18.3