version: 66.04
glider: 105
mission: 5
dive: 20
start: 1 21 109 18 0 46
data:
$ID,105
$MISSION,5
$DIVE,20
$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,62.5
$T_MISSION,70
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,668
$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,-1627081.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2602
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,3239
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.710485
$PRESSURE_SLOPE,0.0001163108
$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,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,-1.8522969
$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,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,175604,4808.206,-12223.537,9,2.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.8
$GPS2,175956,4808.205,-12223.538,17,1.2,17,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.212,-0.092
$KALMAN_X,-1019.2,509.1,12.6,102.3,-134.7
$KALMAN_Y,271.1,-573.3,-89.2,173.6,-29.6
$MHEAD_RNG_PITCHd_Wd,95.1,766,-16.0,-8.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.30,-128.2,0.0,0.0,0,127,0.00,0.00,-104.40,0.000,6,0.000,0.000,398,1933,3761
$GC,130,-1.32,-146.6,3.4,-5.0,18,151,10.45,2.45,-1.62,0.000,4,0.145,0.054,2308,569,3839
$GC,488,-1.32,-146.6,41.4,-10.7,62,495,0.00,2.38,0.00,0.000,6,0.000,0.029,2308,1954,3840
$GC,694,-1.32,-146.6,59.5,-8.7,77,698,0.00,2.45,0.00,0.000,4,0.000,0.041,2308,566,3839
$GC,761,-1.32,-146.6,65.7,-9.2,80,765,0.00,2.38,0.00,0.000,6,0.000,0.028,2308,1954,3840
$GC,1091,-1.32,-146.6,92.8,-8.5,96,1095,0.00,2.47,0.00,0.000,4,0.000,0.047,2308,3354,3839
$GC,1134,-1.32,-146.6,97.0,-8.6,98,1139,0.00,2.38,0.00,0.000,6,0.000,0.026,2308,1955,3839
$STATE,1270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1271,begin apogee
$GC,1277,-0.36,0.0,108.3,8.2,109,1403,1.00,0.00,117.85,0.805,6,0.084,0.000,2517,2165,3239
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1407,1.32,146.6,110.9,0.0,122,1528,1.70,0.00,116.88,0.769,6,0.052,0.000,2887,2165,2641
$GC,1845,1.32,146.6,66.7,11.0,151,1849,0.00,2.50,0.00,0.000,4,0.000,0.042,2887,755,2640
$GC,1877,1.32,146.6,62.9,11.0,152,1885,0.00,2.42,0.00,0.000,6,0.000,0.031,2887,2138,2640
$GC,2199,1.32,146.6,28.5,10.4,177,2203,0.00,2.53,0.00,0.000,4,0.000,0.049,2887,3552,2640
$GC,2253,1.32,146.6,22.5,10.9,181,2260,0.00,2.38,0.00,0.000,6,0.000,0.028,2887,2153,2639
$GC,2461,1.33,153.4,3.7,7.7,216,2475,0.00,2.47,6.68,0.610,4,0.000,0.044,2887,754,2612
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,1.6,1.018920
$STATE,2528,end surface coast,CONTROL_FINISHED_OK
$STATE,2528,begin surface
$SM_CCo,2552,393.42,0.699,0,0,515,668.20
$SM_GC,0.79,0.00,0.00,393.42,0.000,0.000,0.699,402,1962,515,-10.12,0.45,668.20
$IRIDIUM_FIX,4748.51,-12226.29,170498,171700
$TT8_MAMPS,0.026845
$HUMID,1690
$INTERNAL_PRESSURE,7.99183
$TCM_TEMP,17.50
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,81.1,37.0
$24V_AH,23.5,17.431
$10V_AH,10.1,7.007
$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,24.375,29.225,241.400,393.425,0.000,24.197,30.888,82.253,14.000,0.000,0.000,17.667,381.423,1305.414,700.381,483.294,324.561,33.312,1005.568,0.000,555.198,0.000,8.572,0.000
$DEVICE_MAMPS,144.963,53.690,804.583,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,155.863,227.419,405.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9673,227
$CAP_FILE_SIZE,32932,0
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210109,185044,4808.172,-12223.178,10,2.0,10,18.3