version: 66.04
glider: 16
mission: 11
dive: 12
start: 1 21 109 6 2 17
data:
$ID,16
$MISSION,11
$DIVE,12
$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,-2105670.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,055734,4808.066,-12223.068,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.0
$GPS2,060056,4808.076,-12223.089,13,1.2,13,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.120,-0.126
$KALMAN_X,-1702.2,-318.8,-54.0,1550.3,-139.4
$KALMAN_Y,936.6,339.4,54.5,-2435.3,122.5
$MHEAD_RNG_PITCHd_Wd,123.7,178,-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,-95.55,0.000,6,0.000,0.000,69,2149,3441
$GC,118,-1.86,-103.2,4.2,-5.6,17,139,10.52,2.83,-4.03,0.000,4,0.174,0.083,1914,3562,3611
$GC,261,-1.57,-110.8,17.2,-9.2,41,269,0.38,2.75,-0.50,0.000,6,0.142,0.071,1981,2156,3643
$GC,335,-1.57,-110.8,24.9,-10.2,50,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2156,3643
$GC,527,-1.65,-114.9,43.5,-9.6,68,532,0.00,2.83,-0.15,0.000,4,0.000,0.084,1981,3565,3661
$GC,718,-1.72,-114.9,63.6,-10.1,78,725,0.15,2.78,0.00,0.000,6,0.051,0.070,1941,2150,3660
$GC,1034,-1.72,-114.9,97.8,-10.5,94,1038,0.00,2.78,0.00,0.000,4,0.000,0.070,1941,3559,3661
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1081,begin apogee
$GC,1091,-0.31,0.0,103.0,10.4,97,1188,1.65,0.00,93.57,0.622,6,0.140,0.000,2250,2342,3189
$STATE,1189,end apogee,CONTROL_FINISHED_OK
$STATE,1189,begin climb
$GC,1192,1.87,114.9,104.4,0.0,107,1293,2.22,2.90,91.75,0.605,4,0.070,0.068,2733,944,2718
$GC,1355,1.49,114.9,70.0,27.8,115,1362,0.45,2.80,0.00,0.000,6,0.119,0.049,2650,2350,2718
$STATE,1680,end climb,SURFACE_DEPTH_REACHED
$STATE,1680,begin surface coast
$FINISH,3.0,1.017808
$STATE,1703,end surface coast,CONTROL_FINISHED_OK
$STATE,1703,begin surface
$SM_CCo,1707,434.00,0.547,0,0,508,657.16
$SM_GC,1.77,11.45,0.00,0.00,0.039,0.000,0.000,71,2156,503,-10.30,0.20,658.39
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1881
$TCM_TEMP,17.60
$XPDR_PINGS,3
$24V_AH,23.8,4.579
$10V_AH,10.1,1.686
$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,26.825,22.475,185.325,434.000,0.000,18.029,26.514,75.255,2.250,0.000,0.000,13.622,301.816,913.411,681.511,395.920,210.012,33.340,914.887,0.000,389.567,0.000,11.756,0.000
$DEVICE_MAMPS,174.109,83.603,622.037,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,102.865,111.598,266.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6492,154
$CAP_FILE_SIZE,28362,0
$CFSIZE,260165632,258949120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210109,064043,4808.078,-12223.054,9,1.8,14,18.3