version: 66.08
glider: 106
mission: 6
dive: 26
start: 8 13 110 14 9 25
data:
$ID,106
$MISSION,6
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$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,30
$T_MISSION,45
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51799
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-10351.989
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2110
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2980
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.9062195
$PRESSURE_SLOPE,0.0001162509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,130810,140236,4808.024,-12222.921,14,1.6,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.2
$GPS2,130810,140844,4808.011,-12222.870,17,1.8,17,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.097,0.026
$KALMAN_X,-132.5,6.8,-0.1,737.6,-24.8
$KALMAN_Y,-1058.9,-140.6,-79.3,1980.5,-49.3
$MHEAD_RNG_PITCHd_Wd,266.9,138,-43.5,-10.000
$D_GRID,101
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-3.14,-26.4,0.0,0.0,0,99,0.00,0.00,-85.10,0.000,2,0.000,0.000,161,2210,3082,0,0,0,0,0,0
$GC,101,-3.16,-44.6,3.1,-5.4,15,119,7.65,2.53,-2.03,0.000,4,0.188,0.056,1415,3600,3163,0,0,0,0,0,0
$GC,256,-3.17,-49.6,21.9,-8.7,42,264,0.00,2.47,-0.28,0.000,6,0.000,0.031,1415,2188,3187,0,0,0,0,0,0
$GC,448,-3.17,-49.6,42.5,-11.9,61,452,0.00,2.53,0.00,0.000,4,0.000,0.043,1415,3596,3187,0,0,0,0,0,0
$GC,474,-3.17,-49.6,45.8,-12.5,63,481,0.00,2.45,0.00,0.000,6,0.000,0.031,1415,2197,3188,0,0,0,0,0,0
$GC,665,-3.17,-49.6,67.4,-11.1,82,670,0.00,2.50,0.00,0.000,4,0.000,0.044,1415,3591,3188,0,0,0,0,0,0
$GC,697,-3.17,-49.6,71.1,-11.3,85,701,0.00,2.42,0.00,0.000,6,0.000,0.032,1415,2209,3188,0,0,0,0,0,0
$STATE,861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,861,begin apogee
$GC,865,-0.36,0.0,90.3,11.8,101,911,3.40,0.00,40.55,0.727,6,0.153,0.000,2026,2209,2979,0,0,0,0,0,0
$STATE,911,end apogee,CONTROL_FINISHED_OK
$STATE,911,begin climb
$GC,913,3.17,49.6,91.7,0.0,105,966,3.53,2.65,40.50,0.700,4,0.050,0.053,2811,801,2776,0,0,0,0,0,0
$GC,1029,3.17,49.6,73.7,20.9,116,1033,0.00,2.47,0.00,0.000,6,0.000,0.031,2811,2201,2774,0,0,0,0,0,0
$GC,1345,3.17,49.6,19.2,14.1,147,1352,0.00,2.58,0.00,0.000,4,0.000,0.053,2811,797,2773,0,0,0,0,0,0
$GC,1501,3.23,98.5,4.8,-2.4,176,1547,0.00,2.45,39.60,0.674,6,0.000,0.031,2811,2210,2578,0,0,0,0,0,0
$GC,1611,3.28,139.2,3.7,-0.3,196,1645,0.00,2.53,28.42,0.649,4,0.000,0.047,2811,3605,2411,0,0,0,0,0,0
$STATE,1669,end climb,SURFACE_DEPTH_REACHED
$STATE,1669,begin surface coast
$FINISH,3.5,1.019745
$STATE,1717,end surface coast,CONTROL_FINISHED_OK
$STATE,1717,begin surface
$SM_CCo,1719,207.00,0.649,0,0,800,534.75
$SM_GC,1.46,12.00,0.00,0.00,0.042,0.000,0.000,161,2199,791,-8.91,-0.03,536.96
$IRIDIUM_FIX,4751.72,-12340.51,130810,141442
$TT8_MAMPS,0.115346
$HUMID,55.78
$INTERNAL_PRESSURE,7.48076
$TCM_TEMP,19.70
$24V_AH,23.6,3.961
$10V_AH,9.9,12.571
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.575,30.125,149.075,207.000,0.000,58.685,68.995,105.324,0.000,0.000,18.662,0.000,1176.554,449.884,716.449,62.056,33.330,674.991,0.000,354.290,0.000,0.000,0.000
$DEVICE_MAMPS,188.190,55.845,726.750,649.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,144.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,6842,216
$CAP_FILE_SIZE,34748,0
$CFSIZE,260034560,254377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,144406,4808.035,-12222.938,12,1.2,28,18.3