version: 66.04
glider: 16
mission: 10
dive: 30
start: 10 16 108 14 5 19
data:
$ID,16
$MISSION,10
$DIVE,30
$D_SURF,4
$D_FLARE,3
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-2104490.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3225
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.715818
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,135944,4806.376,-12222.304,13,1.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.4
$GPS2,140429,4806.428,-12222.364,11,2.6,30,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.179,0.193
$KALMAN_X,1829.3,1451.7,-6290.6,4048.6,2613.9
$KALMAN_Y,-2760.6,18201.6,-3573.0,-14454.6,-772.3
$MHEAD_RNG_PITCHd_Wd,326.6,3015,-18.1,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.29,-146.6,0.0,0.0,0,93,0.00,0.00,-75.55,0.000,2,0.000,0.000,74,2030,3538
$GC,97,-1.29,-146.6,3.4,-5.1,13,122,11.07,2.67,-6.28,0.000,4,0.180,0.081,1974,3435,3824
$GC,375,-1.03,-146.6,41.1,-12.2,46,382,0.30,2.58,0.00,0.000,6,0.113,0.058,2030,2031,3824
$GC,571,-1.03,-146.6,57.6,-8.2,61,575,0.00,2.67,0.00,0.000,4,0.000,0.071,2030,3443,3824
$STATE,822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,822,begin apogee
$GC,832,-0.31,0.0,80.1,8.9,72,952,0.77,0.00,116.70,0.636,6,0.107,0.000,2185,2031,3225
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,955,1.29,146.6,82.9,0.0,78,1082,1.70,2.72,115.60,0.624,4,0.093,0.063,2533,613,2627
$GC,1166,1.15,146.6,55.1,17.2,87,1173,0.12,2.58,0.00,0.000,6,0.097,0.044,2509,2032,2626
$GC,1495,1.05,146.6,6.6,12.2,124,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2032,2627
$STATE,1523,end climb,SURFACE_DEPTH_REACHED
$STATE,1523,begin surface coast
$FINISH,1.8,1.020169
$STATE,1567,end surface coast,CONTROL_FINISHED_OK
$STATE,1567,begin surface
$SM_CCo,1589,132.43,0.571,1,0,1593,400.08
$SM_GC,0.99,0.00,0.00,132.43,0.000,0.000,0.571,75,2033,1593,-10.05,0.03,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1832
$TCM_TEMP,18.10
$XPDR_PINGS,52
$ALTIM_TOP_PING,18.7,6.7
$ALTIM_BOTTOM_PING,80.1,6.5
$24V_AH,23.7,2.530
$10V_AH,10.1,0.982
$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,25.025,15.875,232.300,132.425,0.000,33.181,41.861,110.687,14.250,0.000,0.000,30.995,261.376,660.621,418.493,423.520,256.596,33.304,649.285,0.000,399.442,0.000,10.408,0.000
$DEVICE_MAMPS,180.245,81.302,635.843,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,91.200,101.773,236.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6545,137
$CAP_FILE_SIZE,25083,0
$CFSIZE,260165632,258633728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,161008,143511,4806.536,-12222.268,15,2.4,34,18.3