version: 66.04
glider: 101
mission: 6
dive: 26
start: 10 10 108 17 2 50
data:
$ID,101
$MISSION,6
$DIVE,26
$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,-730248.38
$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,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
$GPS1,165820,4806.756,-12221.998,6,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.9
$GPS2,170226,4806.720,-12221.936,9,1.9,14,18.3
$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,312.7,2711,-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,15,-1.81,-146.6,0.0,0.0,0,137,0.00,0.00,-115.22,0.000,6,0.000,0.000,27,2414,3921
$GC,141,-1.81,-146.6,4.5,-8.7,21,154,10.80,0.00,0.00,0.000,6,0.123,0.000,2096,2414,3921
$GC,224,-1.69,-146.6,16.6,-10.7,35,231,0.12,2.35,0.00,0.000,4,0.092,0.058,2120,3699,3921
$GC,369,-1.61,-146.6,30.3,-9.2,50,376,0.05,2.25,0.00,0.000,6,0.095,0.036,2141,2415,3921
$GC,568,-1.61,-146.6,46.6,-8.2,69,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2415,3921
$GC,755,-1.61,-146.6,61.8,-8.1,80,759,0.00,2.33,0.00,0.000,4,0.000,0.056,2141,3696,3921
$GC,805,-1.61,-146.6,66.5,-9.1,82,809,0.00,2.20,0.00,0.000,6,0.000,0.036,2141,2408,3921
$GC,1128,-1.65,-146.6,93.1,-8.4,98,1132,0.00,2.33,0.00,0.000,4,0.000,0.055,2140,3693,3921
$GC,1208,-1.65,-146.6,100.4,-8.8,101,1214,0.00,2.20,0.00,0.000,6,0.000,0.036,2141,2408,3921
$STATE,1328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1329,begin apogee
$GC,1336,-0.45,0.0,110.1,7.8,113,1463,1.15,0.00,117.97,0.803,6,0.068,0.000,2390,2408,3323
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,1.81,146.6,112.4,0.0,126,1598,2.22,2.58,117.32,0.769,4,0.052,0.047,2888,1014,2724
$GC,1667,1.50,146.6,84.6,20.0,141,1672,0.38,2.50,0.00,0.000,6,0.143,0.041,2822,2421,2725
$GC,1987,1.34,146.6,33.2,15.1,161,1992,0.17,2.53,0.00,0.000,4,0.133,0.045,2789,1011,2724
$GC,2096,1.26,146.6,18.9,12.3,170,2103,0.12,2.47,0.00,0.000,6,0.138,0.041,2768,2417,2725
$GC,2172,1.26,146.6,10.1,11.5,183,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2417,2724
$STATE,2232,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$FINISH,0.6,1.005347
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$SM_CCo,2287,213.02,0.700,1,0,1284,500.17
$SM_GC,1.42,0.00,0.00,213.02,0.000,0.000,0.700,28,2417,1284,-11.34,0.00,500.17
$IRIDIUM_FIX,4751.72,-12223.57,040198,161624
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,7.85186
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.1,39.0
$24V_AH,23.3,3.122
$10V_AH,10.1,1.075
$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,27.450,23.725,235.300,213.025,0.000,25.357,27.211,91.171,1.000,0.000,0.000,15.792,347.106,1142.112,524.997,496.118,260.453,0.000,817.335,0.000,487.739,0.000,8.579,0.000
$DEVICE_MAMPS,142.662,57.525,803.049,700.271,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,133.481,147.191,342.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9660,199
$CAP_FILE_SIZE,33002,0
$CFSIZE,260165632,258179072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101008,174613,4806.934,-12222.070,39,1.2,56,18.3