version: 66.04
glider: 16
mission: 11
dive: 5
start: 1 21 109 0 48 24
data:
$ID,16
$MISSION,11
$DIVE,5
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,-4
$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,657.15869
$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,-2105523.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2325
$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,18
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3188
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-20.688643
$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,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$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
$GPS1,003322,4808.176,-12223.120,12,2.6,32,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.5
$GPS2,004706,4808.216,-12223.047,11,1.8,27,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.151,-0.085
$KALMAN_X,-564.9,-140.6,-91.0,321.8,-97.4
$KALMAN_Y,-364.9,259.8,122.5,-867.1,-305.4
$MHEAD_RNG_PITCHd_Wd,153.4,405,-23.8,-10.000
$D_GRID,99
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.58,-85.7,0.0,0.0,0,107,0.00,0.00,-87.07,0.000,2,0.000,0.000,73,2037,3181
$GC,110,-1.63,-131.4,4.2,-6.4,15,141,10.68,0.00,-15.68,0.000,6,0.170,0.000,1968,2037,3725
$GC,210,-1.39,-131.4,10.5,-11.0,32,217,0.25,2.78,0.00,0.000,4,0.139,0.077,2016,3435,3725
$GC,452,-1.39,-131.4,35.8,-10.3,62,459,0.00,2.75,0.00,0.000,6,0.000,0.071,2016,2038,3725
$GC,650,-1.46,-140.4,54.8,-9.3,79,655,0.00,2.75,-0.32,0.000,4,0.000,0.087,2016,3434,3766
$GC,758,-1.54,-140.4,65.6,-10.2,84,763,0.12,2.70,0.00,0.000,6,0.051,0.064,1978,2029,3766
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1070,-0.31,0.0,99.2,10.3,99,1188,1.40,0.00,113.18,0.634,6,0.111,0.000,2254,2028,3188
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1191,1.64,140.4,100.9,0.0,110,1311,1.95,2.88,111.28,0.613,4,0.065,0.073,2686,630,2614
$GC,1346,1.27,140.4,72.0,27.2,118,1351,0.45,2.78,0.00,0.000,6,0.114,0.048,2601,2032,2613
$GC,1672,1.16,140.4,8.4,16.5,149,1679,0.12,2.78,0.00,0.000,4,0.114,0.074,2579,3443,2613
$GC,1732,1.60,290.9,4.2,-1.7,159,1861,0.43,2.78,117.70,0.558,6,0.038,0.067,2683,2035,2000
$STATE,1888,end climb,SURFACE_DEPTH_REACHED
$STATE,1888,begin surface coast
$FINISH,2.8,1.017020
$STATE,2086,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2086,begin surface
$SM_CCo,2108,292.25,0.555,0,0,508,657.16
$SM_GC,1.52,0.00,0.00,292.25,0.000,0.000,0.555,72,2035,508,-10.36,0.08,657.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,17.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.1,18.6
$ALTIM_BOTTOM_PING,90.7,24.9
$24V_AH,23.8,3.830
$10V_AH,10.1,1.471
$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,27.350,22.175,342.150,292.250,0.000,105.995,148.825,206.381,3.250,0.000,0.000,27.747,365.590,1127.149,655.061,538.709,581.307,33.315,964.360,0.000,514.332,0.000,12.915,0.000
$DEVICE_MAMPS,169.507,86.671,633.542,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.113,160.793,381.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9688,221
$CAP_FILE_SIZE,37448,0
$CFSIZE,260165632,259084288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210109,012914,4808.161,-12222.998,10,1.4,11,18.3