version: 66.04
glider: 16
mission: 11
dive: 7
start: 1 21 109 2 20 17
data:
$ID,16
$MISSION,11
$DIVE,7
$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,656
$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,-2105552.5
$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,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$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,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,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
$GPS1,021455,4808.077,-12222.972,38,1.7,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.3
$GPS2,021856,4808.072,-12222.978,11,1.1,11,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.014,-0.173
$KALMAN_X,-720.3,-186.7,-75.9,592.6,-37.5
$KALMAN_Y,-4.5,310.7,55.7,-1473.5,-5.3
$MHEAD_RNG_PITCHd_Wd,173.4,136,-27.9,-10.000
$D_GRID,101
$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,-1.81,-62.0,0.0,0.0,0,99,0.00,0.00,-81.28,0.000,2,0.000,0.000,75,2100,3082
$GC,102,-1.86,-104.8,4.2,-5.4,14,134,10.48,2.70,-13.60,0.000,4,0.173,0.081,1916,739,3617
$GC,158,-1.57,-132.9,7.8,-7.0,23,167,0.35,2.70,-2.38,0.000,6,0.138,0.054,1978,2147,3730
$GC,236,-1.57,-134.3,15.7,-9.8,36,242,0.00,2.83,0.00,0.000,4,0.000,0.077,1978,3561,3730
$GC,442,-1.57,-134.3,40.2,-11.9,58,447,0.00,2.78,0.00,0.000,6,0.000,0.064,1978,2150,3730
$GC,637,-1.67,-134.3,62.4,-11.3,71,642,0.00,2.75,0.00,0.000,4,0.000,0.071,1978,3562,3730
$GC,709,-1.77,-134.3,70.9,-10.7,74,715,0.17,2.80,0.00,0.000,6,0.048,0.070,1931,2149,3730
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,970,-0.31,0.0,101.9,12.1,86,1081,1.65,0.00,105.93,0.626,6,0.129,0.000,2248,2203,3188
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1084,1.89,134.3,103.9,0.0,97,1196,2.22,0.00,106.15,0.611,6,0.068,0.000,2738,2203,2640
$GC,1510,1.63,134.3,3.5,14.0,134,1517,0.28,2.83,0.00,0.000,4,0.105,0.076,2682,3609,2638
$GC,1563,1.76,258.3,4.5,-3.3,143,1670,0.12,2.78,97.20,0.551,6,0.056,0.071,2715,2200,2135
$GC,1739,2.01,348.3,3.2,0.3,173,1782,0.17,0.00,39.97,0.537,2,0.048,0.000,2766,2200,1924
$STATE,1782,end climb,SURFACE_DEPTH_REACHED
$STATE,1783,begin surface coast
$FINISH,2.4,1.016398
$STATE,2018,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2018,begin surface
$SM_CCo,2041,272.20,0.553,0,0,513,656.18
$SM_GC,1.27,0.00,0.00,272.20,0.000,0.000,0.553,75,2145,513,-10.35,-0.14,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,17.40
$XPDR_PINGS,10
$24V_AH,23.8,4.049
$10V_AH,10.1,1.539
$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,27.950,22.350,349.250,272.200,0.000,18.039,27.226,109.789,4.000,0.000,0.000,11.354,361.997,846.827,633.888,502.351,255.982,33.308,937.107,0.000,496.507,0.000,11.772,0.000
$DEVICE_MAMPS,173.342,95.108,625.872,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.522,163.518,383.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9686,222
$CAP_FILE_SIZE,32060,0
$CFSIZE,260165632,259055616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210109,025938,4807.954,-12223.004,9,1.7,9,18.3