version: 66.04
glider: 150
mission: 6
dive: 21
start: 10 8 109 13 35 39
data:
$ID,150
$MISSION,6
$DIVE,21
$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,-16107.433
$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,35
$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
$GPS1,132814,4808.167,-12223.664,10,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.8
$GPS2,133446,4808.149,-12223.650,12,2.3,31,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.233,-0.002
$KALMAN_X,668.1,748.2,74.9,-1739.6,-140.2
$KALMAN_Y,-3511.0,-380.9,183.5,5549.2,-264.7
$MHEAD_RNG_PITCHd_Wd,72.2,850,-13.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.00,-144.5,0.0,0.0,0,61,0.00,0.00,-41.25,0.000,2,0.000,0.000,423,2098,3073
$GC,64,-1.00,-145.7,2.3,-4.1,7,114,10.05,2.35,-32.58,0.000,4,0.166,0.062,2278,691,3951
$GC,266,-1.00,-145.7,17.6,-9.5,51,273,0.00,2.25,0.00,0.000,6,0.000,0.031,2279,2112,3952
$GC,341,-1.00,-145.7,24.0,-8.4,64,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,415,-1.00,-145.7,30.1,-8.4,77,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,489,-1.00,-145.7,36.2,-8.3,90,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,564,-1.00,-145.7,42.3,-8.1,103,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,704,-1.00,-145.7,53.5,-8.0,128,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,846,-1.00,-145.7,65.4,-8.7,153,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3952
$GC,988,-1.00,-145.7,77.3,-8.3,178,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3951
$GC,1130,-1.00,-145.7,89.3,-8.2,203,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2112,3951
$GC,1272,-1.00,-145.7,98.6,-6.9,228,1278,0.00,2.35,0.00,0.000,4,0.000,0.050,2279,695,3951
$GC,1374,-1.00,-145.7,106.4,-8.3,250,1380,0.00,2.22,0.00,0.000,6,0.000,0.031,2279,2108,3951
$GC,1517,-1.00,-145.7,117.3,-7.7,275,1523,0.00,2.30,0.00,0.000,4,0.000,0.048,2279,3498,3951
$GC,1784,-1.00,-145.7,117.6,-0.1,333,1790,0.00,2.25,0.00,0.000,6,0.000,0.035,2279,2098,3951
$GC,1926,-1.00,-145.7,117.5,0.0,358,1932,0.00,2.30,0.00,0.000,4,0.000,0.048,2279,3490,3951
$GC,2191,-1.00,-145.7,117.5,0.0,416,2198,0.00,2.25,0.00,0.000,6,0.000,0.032,2279,2093,3951
$GC,2334,-1.00,-145.7,117.5,0.1,441,2340,0.00,2.30,0.00,0.000,4,0.000,0.044,2279,3489,3951
$GC,2602,-1.00,-145.7,117.6,-0.0,499,2607,0.00,2.25,0.00,0.000,6,0.000,0.032,2279,2092,3951
$STATE,2707,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2707,begin apogee
$GC,2713,-0.31,0.0,117.5,-0.2,518,2821,0.62,0.00,101.32,0.901,6,0.060,0.000,2431,2092,3431
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin climb
$GC,2825,1.00,145.7,117.6,0.0,537,2950,1.23,2.47,117.30,0.876,4,0.054,0.063,2718,698,2833
$GC,3054,1.00,145.7,103.2,9.2,581,3060,0.00,2.25,0.00,0.000,6,0.000,0.027,2719,2099,2828
$GC,3195,1.00,145.7,91.2,8.4,606,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2098,2829
$GC,3338,1.00,145.7,79.7,8.2,631,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2098,2828
$GC,3478,1.00,145.7,68.2,8.0,656,3485,0.00,2.38,0.00,0.000,4,0.000,0.054,2718,696,2827
$GC,3500,1.00,145.7,66.3,8.4,660,3506,0.00,2.25,0.00,0.000,6,0.000,0.035,2718,2100,2827
$GC,3643,1.00,145.7,55.1,7.5,685,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2100,2827
$GC,3784,1.00,145.7,43.6,8.3,710,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2100,2827
$GC,3926,1.00,146.3,32.3,7.4,735,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2100,2827
$GC,4000,1.00,146.3,26.6,7.6,748,4007,0.00,2.38,0.00,0.000,4,0.000,0.057,2718,690,2827
$GC,4029,1.00,146.3,24.3,8.0,754,4037,0.00,2.25,0.00,0.000,6,0.000,0.033,2718,2098,2826
$GC,4105,1.00,146.3,18.3,7.6,767,4111,0.00,2.33,0.00,0.000,4,0.000,0.048,2718,3493,2828
$GC,4137,1.00,146.3,15.9,7.9,773,4144,0.00,2.28,0.00,0.000,6,0.000,0.031,2718,2084,2828
$GC,4213,1.00,149.9,10.0,7.3,786,4219,0.00,2.35,0.00,0.000,4,0.000,0.054,2718,686,2827
$GC,4255,1.02,160.8,6.9,7.1,795,4274,0.00,2.25,12.82,0.805,6,0.000,0.028,2718,2098,2773
$STATE,4312,end climb,SURFACE_DEPTH_REACHED
$STATE,4312,begin surface coast
$FINISH,1.3,1.021300
$STATE,4358,end surface coast,CONTROL_FINISHED_OK
$STATE,4358,begin surface
$SM_CCo,4378,115.30,0.815,0,0,2207,300.00
$SM_GC,0.97,0.00,0.00,115.30,0.000,0.000,0.815,425,2100,2207,-9.55,0.08,300.00
$IRIDIUM_FIX,4751.72,-12226.29,020199,121223
$TT8_MAMPS,0.027612
$HUMID,1748
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.60
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,95.0,35.4
$24V_AH,23.2,2.488
$10V_AH,10.1,1.560
$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,21.525,46.000,231.450,115.300,0.000,29.017,24.958,190.155,7.500,0.000,0.000,33.691,1223.831,1331.229,445.061,1442.574,454.539,33.306,1116.760,0.000,1418.294,0.000,12.384,0.000
$DEVICE_MAMPS,166.439,62.894,901.225,815.321,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,549.748,367.444,861.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44339,813
$CAP_FILE_SIZE,72213,0
$CFSIZE,260165632,217874432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,145136,4808.129,-12223.216,12,1.5,23,18.3