version: 66.04
glider: 150
mission: 6
dive: 20
start: 10 8 109 12 36 20
data:
$ID,150
$MISSION,6
$DIVE,20
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1020
$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,67
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52219
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16073.11
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,2501
$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,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3430
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.2719669
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,150
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$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,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,122937,4808.044,-12224.112,34,0.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.2
$GPS2,123526,4808.024,-12224.079,12,1.6,12,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.218,0.084
$KALMAN_X,1405.4,486.0,-19.6,-2656.7,289.8
$KALMAN_Y,-3481.3,-242.5,109.1,5227.4,-377.4
$MHEAD_RNG_PITCHd_Wd,50.6,1335,-13.0,-7.463
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.99,-145.7,0.0,0.0,0,59,0.00,0.00,-41.22,0.000,2,0.000,0.000,420,2095,3072
$GC,63,-0.99,-145.7,2.2,-3.8,7,113,10.15,2.33,-33.22,0.000,4,0.171,0.060,2281,697,3952
$GC,290,-0.99,-145.7,19.2,-8.8,57,297,0.00,2.28,0.00,0.000,6,0.000,0.031,2281,2110,3953
$GC,366,-0.99,-145.7,25.7,-8.7,70,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2110,3952
$GC,442,-0.99,-145.7,32.3,-8.8,83,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2110,3953
$GC,516,-0.99,-145.7,38.6,-8.5,96,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2110,3952
$GC,590,-0.99,-145.7,44.8,-8.4,109,596,0.00,2.35,0.00,0.000,4,0.000,0.049,2281,698,3952
$GC,617,-0.99,-145.7,47.3,-8.6,114,623,0.00,2.22,0.00,0.000,6,0.000,0.030,2281,2103,3952
$GC,759,-0.99,-145.7,59.0,-8.4,139,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2103,3952
$GC,900,-0.99,-145.7,70.5,-8.2,164,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2103,3952
$GC,1044,-0.99,-145.7,82.6,-8.5,189,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2103,3952
$GC,1187,-0.99,-145.7,94.4,-8.4,214,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2103,3951
$GC,1329,-0.99,-145.7,106.0,-8.3,239,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2103,3952
$STATE,1355,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1355,begin apogee
$GC,1361,-0.31,0.0,108.3,8.0,244,1468,0.65,0.00,101.82,0.894,6,0.081,0.000,2430,2103,3430
$STATE,1469,end apogee,CONTROL_FINISHED_OK
$STATE,1469,begin climb
$GC,1472,0.99,145.7,111.5,0.0,263,1596,1.23,0.00,116.88,0.867,6,0.062,0.000,2715,2103,2834
$GC,1732,0.99,145.7,94.2,8.8,309,1738,0.00,2.40,0.00,0.000,4,0.000,0.056,2715,690,2828
$GC,1763,0.99,145.7,91.5,8.8,315,1769,0.00,2.25,0.00,0.000,6,0.000,0.032,2715,2087,2828
$GC,1904,0.99,145.7,79.0,8.4,340,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2087,2828
$GC,2045,0.99,145.7,67.2,8.2,365,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2087,2828
$GC,2187,0.99,145.7,55.9,8.0,390,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2086,2828
$GC,2328,0.99,145.7,44.6,8.1,415,2334,0.00,2.35,0.00,0.000,4,0.000,0.051,2715,694,2827
$GC,2354,0.99,145.7,42.4,8.5,420,2360,0.00,2.25,0.00,0.000,6,0.000,0.031,2715,2100,2827
$GC,2497,0.99,145.7,30.9,7.8,445,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2100,2827
$GC,2571,0.99,145.7,25.2,7.6,458,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2100,2827
$GC,2644,0.99,145.7,19.6,7.8,471,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2100,2827
$GC,2719,0.99,145.7,14.2,7.6,484,2726,0.00,2.38,0.00,0.000,4,0.000,0.051,2716,691,2827
$GC,2765,0.99,145.7,10.6,7.9,494,2771,0.00,2.28,0.00,0.000,6,0.000,0.032,2715,2094,2826
$GC,2840,1.02,166.5,5.3,6.7,507,2859,0.00,0.00,17.38,0.818,6,0.000,0.000,2715,2094,2751
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,1.1,1.021228
$STATE,2933,end surface coast,CONTROL_FINISHED_OK
$STATE,2933,begin surface
$SM_CCo,2954,110.60,0.812,0,0,2207,300.00
$SM_GC,0.88,0.00,0.00,110.60,0.000,0.000,0.812,423,2098,2207,-9.56,0.03,300.00
$IRIDIUM_FIX,4748.51,-12221.84,020199,111103
$TT8_MAMPS,0.027612
$HUMID,1768
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,18.50
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,90.1,28.0
$24V_AH,23.2,2.390
$10V_AH,10.1,1.488
$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,21.650,23.075,236.075,110.600,0.000,30.222,31.167,169.550,4.750,0.000,0.000,13.666,787.954,886.770,418.162,938.864,396.581,33.314,896.159,0.000,935.969,0.000,11.820,0.000
$DEVICE_MAMPS,171.041,59.826,893.555,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,354.607,263.185,616.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28650,523
$CAP_FILE_SIZE,51690,0
$CFSIZE,260165632,217948160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,132814,4808.167,-12223.664,10,1.1,10,18.3