version: 66.04
glider: 16
mission: 11
dive: 10
start: 1 21 109 4 30 42
data:
$ID,16
$MISSION,11
$DIVE,10
$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,-2105619.5
$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,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
$GPS1,042552,4807.974,-12222.979,8,5.8,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.5
$GPS2,042920,4807.979,-12222.990,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.170,-0.033
$KALMAN_X,-1137.1,-239.9,-32.0,1003.7,-114.3
$KALMAN_Y,496.2,327.9,38.2,-2146.1,61.0
$MHEAD_RNG_PITCHd_Wd,325.1,42,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.81,-62.0,0.0,0.0,0,120,0.00,0.00,-98.12,0.000,6,0.000,0.000,71,2144,3441
$GC,123,-1.84,-86.6,4.4,-7.4,18,143,10.57,2.85,-2.28,0.000,4,0.176,0.085,1918,735,3541
$GC,397,-1.58,-86.6,30.7,-10.7,57,403,0.32,2.75,0.00,0.000,6,0.138,0.051,1976,2146,3541
$GC,595,-1.60,-102.4,47.1,-8.3,75,601,0.00,2.85,-0.57,0.000,4,0.000,0.081,1976,738,3608
$GC,842,-1.65,-102.4,72.4,-10.0,87,847,0.00,2.72,0.00,0.000,6,0.000,0.048,1976,2149,3608
$GC,1164,-1.77,-119.0,99.8,-8.2,103,1170,0.17,2.72,-0.45,0.000,4,0.047,0.085,1929,3571,3681
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1205,-0.31,0.0,103.2,9.9,105,1311,1.67,0.00,97.45,0.630,6,0.129,0.000,2250,2232,3187
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1315,1.87,119.0,104.4,0.0,116,1422,2.20,2.95,94.80,0.607,4,0.067,0.067,2737,843,2702
$GC,1458,1.50,119.0,75.7,27.9,124,1464,0.45,2.83,0.00,0.000,6,0.120,0.045,2654,2260,2702
$GC,1783,1.37,119.0,7.1,15.9,154,1790,0.15,2.75,0.00,0.000,4,0.130,0.073,2628,3652,2701
$GC,1854,1.59,227.4,3.7,-1.7,166,1939,0.20,2.78,77.75,0.554,2,0.048,0.066,2680,2255,2297
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1940,begin surface coast
$FINISH,2.8,1.018602
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2119,336.12,0.552,0,0,512,656.18
$SM_GC,1.40,0.00,0.00,336.12,0.000,0.000,0.552,72,2151,512,-10.36,0.03,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1885
$TCM_TEMP,17.60
$XPDR_PINGS,4
$24V_AH,23.8,4.367
$10V_AH,10.1,1.628
$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,27.975,28.050,270.000,336.125,0.000,18.520,26.966,78.374,2.500,0.000,0.000,15.624,366.846,954.205,651.507,519.953,219.837,33.315,951.184,0.000,509.289,0.000,11.802,0.000
$DEVICE_MAMPS,175.643,85.137,629.707,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,138.720,154.093,359.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9673,208
$CAP_FILE_SIZE,32460,0
$CFSIZE,260165632,258985984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210109,051315,4808.054,-12223.084,39,5.0,58,18.3