version: 66.04
glider: 150
mission: 6
dive: 22
start: 10 8 109 15 3 45
data:
$ID,150
$MISSION,6
$DIVE,22
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$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,-16122.969
$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,31
$R_STBD_OVSHOOT,36
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,145136,4808.129,-12223.216,12,1.5,23,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.5
$GPS2,150249,4808.107,-12223.200,13,2.0,13,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.178,-0.029
$KALMAN_X,158.5,843.0,91.5,-789.3,-353.5
$KALMAN_Y,-3525.0,-477.5,236.3,5530.8,-100.4
$MHEAD_RNG_PITCHd_Wd,80.8,318,-13.4,-6.024
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.95,-95.9,0.0,0.0,0,61,0.00,0.00,-40.58,0.000,2,0.000,0.000,426,2100,3043
$GC,64,-1.02,-145.7,2.0,-3.1,7,120,10.05,2.40,-35.97,0.000,4,0.169,0.061,2275,693,3953
$GC,338,-1.02,-145.7,23.3,-9.1,68,344,0.00,2.25,0.00,0.000,6,0.000,0.032,2275,2114,3954
$GC,413,-1.02,-145.7,29.9,-8.5,81,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2114,3954
$GC,487,-1.02,-145.7,36.7,-8.9,94,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2113,3953
$GC,562,-1.02,-145.7,43.3,-8.6,107,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2114,3953
$GC,702,-1.02,-145.7,56.0,-9.4,132,708,0.00,2.38,0.00,0.000,4,0.000,0.048,2275,688,3953
$GC,720,-1.02,-145.7,57.6,-9.0,135,726,0.00,2.22,0.00,0.000,6,0.000,0.031,2275,2096,3953
$GC,862,-1.02,-145.7,70.1,-8.8,160,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2097,3953
$GC,1004,-1.02,-145.7,82.6,-8.8,185,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2096,3953
$GC,1144,-1.02,-145.7,94.9,-8.7,210,1151,0.00,2.33,0.00,0.000,4,0.000,0.047,2275,3498,3953
$GC,1171,-1.02,-145.7,97.1,-8.6,215,1178,0.00,2.25,0.00,0.000,6,0.000,0.035,2275,2093,3953
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1221,-0.31,0.0,101.3,8.8,223,1330,0.68,0.00,102.00,0.893,6,0.094,0.000,2429,2092,3430
$STATE,1330,end apogee,CONTROL_FINISHED_OK
$STATE,1330,begin climb
$GC,1333,1.02,145.7,104.7,0.0,242,1458,1.25,2.45,116.88,0.864,4,0.067,0.049,2720,3489,2834
$GC,1477,1.02,145.7,98.0,7.5,267,1483,0.00,2.25,0.00,0.000,6,0.000,0.035,2720,2103,2832
$GC,1619,1.02,145.7,85.9,8.5,292,1625,0.00,2.40,0.00,0.000,4,0.000,0.063,2720,694,2829
$GC,1655,1.02,145.7,82.6,9.1,299,1661,0.00,2.25,0.00,0.000,6,0.000,0.033,2720,2096,2828
$GC,1796,1.02,145.7,70.5,8.6,324,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2096,2828
$GC,1938,1.02,145.7,59.0,8.4,349,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2096,2828
$GC,2079,1.02,145.7,47.6,8.2,374,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,2828
$GC,2220,1.02,145.7,36.3,8.0,399,2228,0.00,2.38,0.00,0.000,4,0.000,0.054,2719,692,2826
$GC,2243,1.02,145.7,34.6,8.0,403,2249,0.00,2.25,0.00,0.000,6,0.000,0.031,2720,2096,2827
$GC,2318,1.02,145.7,28.6,8.2,416,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,2827
$GC,2393,1.02,145.7,22.9,7.6,429,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2096,2827
$GC,2467,1.02,145.7,17.4,7.7,442,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,2827
$GC,2541,1.02,145.7,12.1,7.5,455,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,2827
$GC,2615,1.02,145.7,6.4,7.4,468,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,2827
$STATE,2664,end climb,SURFACE_DEPTH_REACHED
$STATE,2664,begin surface coast
$FINISH,0.8,1.021548
$STATE,2710,end surface coast,CONTROL_FINISHED_OK
$STATE,2710,begin surface
$SM_CCo,2730,126.97,0.818,0,0,2207,300.00
$SM_GC,1.05,0.00,0.00,126.97,0.000,0.000,0.818,425,2099,2207,-9.55,0.06,300.00
$IRIDIUM_FIX,4751.72,-12226.29,020199,151540
$TT8_MAMPS,0.027612
$HUMID,1752
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,60.8,999.0
$24V_AH,23.2,2.598
$10V_AH,10.1,1.612
$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,21.575,27.800,218.875,126.975,0.000,46.049,73.340,342.428,4.250,0.000,0.000,14.908,733.670,862.497,427.885,870.003,647.824,33.308,879.883,0.000,870.163,0.000,2.848,0.000
$DEVICE_MAMPS,168.740,62.894,892.788,817.622,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,327.924,247.895,582.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25391,485
$CAP_FILE_SIZE,53937,0
$CFSIZE,260165632,217862144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,155231,4808.056,-12222.772,11,1.3,29,18.3