version: 66.04
glider: 101
mission: 6
dive: 24
start: 10 10 108 15 17 40
data:
$ID,101
$MISSION,6
$DIVE,24
$D_SURF,3
$D_FLARE,4
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-730217.81
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2493
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,177
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2417
$C_ROLL_CLIMB,2417
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,657
$VBD_MAX,3935
$C_VBD,3323
$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,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.306441
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042858003
$SEABIRD_T_H,0.00062598009
$SEABIRD_T_I,2.1740922e-05
$SEABIRD_T_J,2.0518198e-06
$SEABIRD_C_G,-9.9824123
$SEABIRD_C_H,1.1171527
$SEABIRD_C_I,-0.00017022179
$SEABIRD_C_J,0.00010324208
$GPS1,151259,4806.465,-12222.107,6,2.2,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.3
$GPS2,151717,4806.437,-12222.094,10,2.2,29,18.3
$SPEED_LIMITS,0.173,0.260
$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,320.6,3104,-17.9,-10.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.81,-146.6,0.0,0.0,0,121,0.00,0.00,-102.93,0.000,2,0.000,0.000,27,2425,3658
$GC,125,-1.81,-146.6,4.0,-6.4,18,145,10.85,0.00,-6.45,0.000,6,0.126,0.000,2096,2425,3923
$GC,215,-1.72,-146.6,16.2,-11.2,33,221,0.12,0.00,0.00,0.000,6,0.094,0.000,2120,2425,3923
$GC,289,-1.72,-146.6,23.3,-9.4,43,293,0.00,2.28,0.00,0.000,4,0.000,0.059,2120,3692,3922
$GC,392,-1.64,-146.6,34.1,-10.5,51,398,0.00,2.20,0.00,0.000,6,0.000,0.036,2120,2410,3922
$GC,590,-1.64,-146.6,52.3,-8.5,69,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2411,3923
$GC,899,-1.64,-146.6,79.2,-8.9,84,903,0.00,2.33,0.00,0.000,4,0.000,0.055,2119,3693,3922
$GC,966,-1.64,-146.6,86.0,-10.1,87,970,0.00,2.20,0.00,0.000,6,0.000,0.036,2120,2415,3922
$STATE,1261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1261,begin apogee
$GC,1268,-0.45,0.0,112.3,8.4,108,1395,1.25,0.00,118.28,0.804,6,0.071,0.000,2388,2414,3323
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1396,begin climb
$GC,1400,1.81,146.6,114.9,0.0,121,1531,2.22,2.58,117.75,0.767,4,0.051,0.048,2889,1021,2724
$GC,1633,1.49,146.6,80.2,20.4,138,1638,0.38,2.50,0.00,0.000,6,0.141,0.041,2823,2426,2725
$GC,1954,1.34,146.6,31.1,14.2,159,1959,0.17,2.50,0.00,0.000,4,0.131,0.045,2789,1020,2724
$GC,2057,1.27,146.6,17.8,13.1,169,2063,0.00,2.45,0.00,0.000,6,0.000,0.041,2789,2419,2725
$GC,2133,1.20,146.6,8.6,11.6,182,2140,0.17,2.28,0.00,0.000,4,0.121,0.056,2759,3689,2724
$STATE,2178,end climb,SURFACE_DEPTH_REACHED
$STATE,2178,begin surface coast
$FINISH,0.7,1.010020
$STATE,2201,end surface coast,CONTROL_FINISHED_OK
$STATE,2202,begin surface
$SM_CCo,2229,214.90,0.705,0,0,1284,500.17
$SM_GC,1.38,0.00,0.00,214.90,0.000,0.000,0.705,25,2413,1284,-11.35,-0.11,500.17
$IRIDIUM_FIX,4748.51,-12057.83,040198,141454
$TT8_MAMPS,0.028379
$HUMID,1840
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.4,21.4
$24V_AH,23.3,2.902
$10V_AH,10.1,1.006
$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,Compass2
$DEVICE_SECS,27.425,23.550,236.025,214.900,0.000,23.900,25.615,91.010,2.500,0.000,0.000,31.757,338.920,1116.729,515.392,494.326,255.146,0.000,793.687,0.000,465.303,0.000,17.248,0.000
$DEVICE_MAMPS,141.128,59.059,803.816,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,129.877,144.762,333.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9693,194
$CAP_FILE_SIZE,31922,0
$CFSIZE,260165632,258232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101008,155935,4806.662,-12222.185,9,5.7,28,18.3