version: 66.04
glider: 16
mission: 11
dive: 9
start: 1 21 109 3 47 24
data:
$ID,16
$MISSION,11
$DIVE,9
$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,-2105603.2
$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,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$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
$GPS1,034207,4808.042,-12222.969,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.6
$GPS2,034604,4808.046,-12223.010,15,5.4,34,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.033,-0.170
$KALMAN_X,-1016.6,-264.6,-79.5,937.1,-38.1
$KALMAN_Y,335.3,301.3,9.0,-1804.3,144.7
$MHEAD_RNG_PITCHd_Wd,153.4,87,-27.9,-10.000
$D_GRID,103
$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,-62.0,0.0,0.0,0,115,0.00,0.00,-96.60,0.000,6,0.000,0.000,77,2160,3442
$GC,119,-1.85,-100.3,4.1,-5.9,17,138,10.55,0.00,-3.62,0.000,6,0.175,0.000,1917,2161,3600
$GC,207,-1.59,-115.8,14.0,-8.3,32,215,0.30,2.95,-1.00,0.000,4,0.189,0.081,1971,734,3663
$GC,383,-1.59,-115.8,33.4,-11.7,53,390,0.00,2.75,0.00,0.000,6,0.000,0.054,1971,2146,3663
$GC,591,-1.63,-115.8,55.2,-10.6,71,595,0.00,2.78,0.00,0.000,4,0.000,0.078,1971,3564,3662
$GC,708,-1.63,-115.8,68.5,-10.8,76,712,0.00,2.72,0.00,0.000,6,0.000,0.064,1971,2145,3662
$GC,1026,-1.72,-119.8,99.2,-9.6,91,1031,0.00,2.75,-0.12,0.000,4,0.000,0.081,1971,3562,3684
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1073,-0.31,0.0,103.3,9.8,94,1180,1.42,0.00,97.93,0.623,6,0.120,0.000,2249,2254,3188
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1183,1.87,119.8,104.9,0.0,105,1292,2.20,3.08,95.68,0.604,4,0.063,0.071,2733,846,2697
$GC,1318,1.49,119.8,79.9,27.8,114,1324,0.45,2.78,0.00,0.000,6,0.121,0.050,2651,2258,2697
$GC,1644,1.35,119.8,6.7,18.3,144,1651,0.17,2.75,0.00,0.000,4,0.134,0.074,2617,3658,2697
$STATE,1672,end climb,SURFACE_DEPTH_REACHED
$STATE,1672,begin surface coast
$FINISH,3.0,1.019070
$STATE,1696,end surface coast,CONTROL_FINISHED_OK
$STATE,1696,begin surface
$SM_CCo,1700,425.45,0.545,0,0,509,657.16
$SM_GC,1.42,11.25,0.00,0.00,0.037,0.000,0.000,71,2143,502,-10.31,-0.17,658.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1886
$TCM_TEMP,17.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,91.4,30.1
$24V_AH,23.8,4.262
$10V_AH,10.1,1.594
$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,26.350,28.250,193.600,425.450,0.000,18.171,26.651,87.402,2.250,0.000,0.000,35.518,295.523,900.022,692.033,411.443,226.051,33.315,927.262,0.000,380.239,0.000,15.166,0.000
$DEVICE_MAMPS,189.449,81.302,622.804,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,102.114,111.227,264.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6540,153
$CAP_FILE_SIZE,29088,0
$CFSIZE,260165632,259010560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210109,042552,4807.974,-12222.979,8,5.8,27,18.3