version: 66.04
glider: 101
mission: 6
dive: 25
start: 10 10 108 16 14 24
data:
$ID,101
$MISSION,6
$DIVE,25
$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,-730231.94
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,155935,4806.662,-12222.185,9,5.7,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.5
$GPS2,161403,4806.530,-12221.914,12,1.4,12,18.3
$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,315.5,3035,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.81,-146.6,0.0,0.0,0,138,0.00,0.00,-116.78,0.000,6,0.000,0.000,25,2413,3920
$GC,142,-1.81,-146.6,4.3,-8.3,21,161,10.75,2.50,0.00,0.000,4,0.121,0.048,2094,1017,3921
$GC,180,-1.33,-146.6,11.3,-14.0,27,187,0.55,2.47,0.00,0.000,6,0.094,0.041,2201,2418,3921
$GC,257,-1.47,-146.6,16.8,-6.3,40,264,0.12,2.30,0.00,0.000,4,0.056,0.058,2167,3696,3921
$GC,389,-1.47,-146.6,27.6,-7.9,55,395,0.00,2.20,0.00,0.000,6,0.000,0.035,2168,2414,3921
$GC,588,-1.55,-146.6,42.2,-7.3,74,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2414,3921
$GC,788,-1.64,-146.6,55.6,-6.6,89,793,0.15,2.33,0.00,0.000,4,0.047,0.054,2125,3698,3921
$GC,878,-1.60,-146.6,63.7,-8.9,93,882,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2420,3921
$GC,1206,-1.60,-146.6,90.9,-8.6,109,1210,0.00,2.30,0.00,0.000,4,0.000,0.056,2125,3693,3921
$GC,1262,-1.60,-146.6,96.6,-8.8,111,1269,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2411,3921
$STATE,1425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1425,begin apogee
$GC,1432,-0.45,0.0,110.4,8.5,125,1559,1.23,0.00,118.20,0.808,6,0.069,0.000,2388,2411,3323
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1563,1.81,146.6,112.7,0.0,138,1695,2.22,2.58,117.90,0.770,4,0.051,0.047,2890,1015,2725
$GC,1809,1.49,146.6,75.6,20.4,155,1815,0.38,2.47,0.00,0.000,6,0.138,0.041,2823,2420,2725
$GC,2135,1.34,146.6,25.6,14.3,178,2140,0.20,2.50,0.00,0.000,4,0.129,0.045,2785,1014,2724
$GC,2226,1.27,146.6,13.8,11.4,190,2233,0.00,2.47,0.00,0.000,6,0.000,0.040,2785,2419,2724
$GC,2302,1.22,146.6,4.8,12.3,203,2309,0.12,2.28,0.00,0.000,4,0.127,0.056,2763,3690,2724
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,0.6,1.005317
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2366,212.10,0.700,1,0,1284,500.17
$SM_GC,1.43,0.00,0.00,212.10,0.000,0.000,0.700,27,2413,1284,-11.34,-0.11,500.17
$IRIDIUM_FIX,4751.72,-12211.95,040198,161641
$TT8_MAMPS,0.029146
$HUMID,1836
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.9,29.2
$24V_AH,23.3,3.021
$10V_AH,10.1,1.044
$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,28.050,33.050,236.100,212.100,0.000,139.396,195.131,186.484,2.750,0.000,0.000,13.513,369.727,1396.810,532.472,517.591,652.148,0.000,836.024,0.000,507.108,0.000,15.765,0.000
$DEVICE_MAMPS,138.060,57.525,807.651,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,140.328,153.419,359.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9660,209
$CAP_FILE_SIZE,40493,0
$CFSIZE,260165632,258203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101008,165820,4806.756,-12221.998,6,1.1,11,18.3