version: 66.08
glider: 106
mission: 6
dive: 23
start: 8 13 110 12 2 16
data:
$ID,106
$MISSION,6
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,60
$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,-10348.209
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,130810,115644,4807.665,-12223.405,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.5
$GPS2,130810,120136,4807.644,-12223.426,17,1.7,27,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.133,0.224
$KALMAN_X,-27.0,-24.6,31.7,-48.6,16.6
$KALMAN_Y,-838.3,-25.4,-94.9,981.6,-115.3
$MHEAD_RNG_PITCHd_Wd,12.4,859,-18.2,-10.000
$D_GRID,107
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.48,-146.6,0.0,0.0,0,94,0.00,0.00,-77.97,0.000,2,0.000,0.000,166,2210,2927,0,0,0,0,0,0
$GC,96,-1.48,-146.6,3.3,-5.7,14,126,9.73,2.55,-15.68,0.000,4,0.182,0.057,1780,3600,3578,0,0,0,0,0,0
$GC,135,-1.48,-146.6,7.8,-6.7,21,142,0.00,2.47,0.00,0.000,6,0.000,0.032,1780,2198,3579,0,0,0,0,0,0
$GC,205,-1.48,-146.6,15.4,-11.8,34,212,0.00,2.53,0.00,0.000,4,0.000,0.050,1780,804,3579,0,0,0,0,0,0
$GC,258,-1.48,-146.6,21.5,-11.3,43,263,0.00,2.42,0.00,0.000,6,0.000,0.030,1780,2194,3579,0,0,0,0,0,0
$GC,455,-1.48,-146.6,43.0,-11.4,62,459,0.00,2.55,0.00,0.000,4,0.000,0.051,1780,798,3580,0,0,0,0,0,0
$GC,487,-1.48,-146.6,46.6,-12.2,65,491,0.00,2.45,0.00,0.000,6,0.000,0.031,1780,2200,3580,0,0,0,0,0,0
$GC,684,-1.48,-146.6,68.4,-11.0,84,688,0.00,2.55,0.00,0.000,4,0.000,0.047,1780,3600,3581,0,0,0,0,0,0
$GC,710,-1.48,-146.6,71.6,-11.7,86,717,0.00,2.45,0.00,0.000,6,0.000,0.033,1780,2205,3581,0,0,0,0,0,0
$GC,1026,-1.48,-146.6,106.8,-11.2,117,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,2205,3582,0,0,0,0,0,0
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1038,-0.36,0.0,107.9,11.1,118,1157,1.23,0.00,113.18,0.734,6,0.106,0.000,2023,2205,2979,0,0,0,0,0,0
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1159,1.48,146.6,110.9,0.0,129,1285,1.90,2.62,115.95,0.700,4,0.061,0.049,2434,3594,2381,0,0,0,0,0,0
$GC,1305,1.48,146.6,97.5,13.9,143,1313,0.00,2.50,0.00,0.000,6,0.000,0.036,2434,2208,2379,0,0,0,0,0,0
$GC,1621,1.48,146.6,53.5,13.7,174,1625,0.00,2.62,0.00,0.000,4,0.000,0.060,2434,796,2376,0,0,0,0,0,0
$GC,1701,1.48,146.6,42.1,14.4,181,1708,0.00,2.47,0.00,0.000,6,0.000,0.031,2434,2199,2375,0,0,0,0,0,0
$GC,1893,1.48,146.6,17.7,12.2,201,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2200,2375,0,0,0,0,0,0
$GC,1956,1.48,146.6,10.1,11.8,213,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2199,2375,0,0,0,0,0,0
$GC,2020,1.48,146.6,3.9,10.1,225,2027,0.00,2.62,0.00,0.000,4,0.000,0.058,2434,793,2374,0,0,0,0,0,0
$STATE,2030,end climb,SURFACE_DEPTH_REACHED
$STATE,2030,begin surface coast
$FINISH,0.9,1.018667
$STATE,2056,end surface coast,CONTROL_FINISHED_OK
$STATE,2056,begin surface
$SM_CCo,2075,132.40,0.668,0,0,1349,400.08
$SM_GC,1.40,0.00,0.00,132.40,0.000,0.000,0.668,163,2206,1349,-8.96,0.17,400.08
$IRIDIUM_FIX,4751.72,-12340.51,130810,111137
$TT8_MAMPS,0.114597
$HUMID,54.88
$INTERNAL_PRESSURE,7.49052
$TCM_TEMP,19.50
$24V_AH,23.6,3.726
$10V_AH,9.9,12.519
$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,23.100,35.325,229.125,132.400,0.000,29.277,32.610,146.298,0.000,0.000,27.940,0.000,1237.850,445.169,736.111,80.714,33.330,705.546,0.000,394.847,0.000,0.000,0.000
$DEVICE_MAMPS,182.070,60.435,734.400,667.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,155.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323108
$DATA_FILE_SIZE,6805,232
$CAP_FILE_SIZE,38475,0
$CFSIZE,260034560,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130810,124000,4807.852,-12223.247,22,1.4,38,18.3