version: 66.04
glider: 16
mission: 11
dive: 21
start: 1 21 109 12 55 32
data:
$ID,16
$MISSION,11
$DIVE,21
$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,62.5
$T_MISSION,70
$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,-2105827.8
$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,2600
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$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,3
$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
$GPS1,124808,4808.220,-12223.152,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.5
$GPS2,125413,4808.247,-12223.179,12,1.7,17,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.103,-0.222
$KALMAN_X,-4038.4,-198.5,-31.9,3631.8,-131.0
$KALMAN_Y,5356.1,304.9,177.7,-6627.1,291.7
$MHEAD_RNG_PITCHd_Wd,135.9,508,-18.3,-8.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.25,-99.0,0.0,0.0,0,127,0.00,0.00,-107.07,0.000,6,0.000,0.000,74,2601,3594
$GC,131,-1.31,-146.6,3.6,-4.2,19,156,11.25,2.30,-4.80,0.000,4,0.176,0.077,2034,3756,3787
$GC,203,-1.06,-146.6,10.7,-9.3,31,210,0.30,2.22,0.00,0.000,6,0.120,0.062,2090,2601,3787
$GC,279,-1.06,-146.6,17.0,-8.0,44,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2601,3787
$GC,352,-1.06,-146.6,22.5,-7.6,54,356,0.00,2.28,0.00,0.000,4,0.000,0.064,2090,3766,3787
$GC,427,-1.11,-146.6,28.1,-7.5,60,431,0.00,2.28,0.00,0.000,6,0.000,0.062,2090,2599,3787
$GC,625,-1.25,-146.6,42.6,-6.9,78,630,0.17,2.30,0.00,0.000,4,0.042,0.064,2034,3769,3787
$GC,883,-1.20,-146.6,66.2,-8.8,92,890,0.15,2.25,0.00,0.000,6,0.107,0.061,2060,2594,3787
$GC,1200,-1.30,-146.6,89.7,-7.2,108,1209,0.00,2.28,0.00,0.000,4,0.000,0.063,2060,3765,3787
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1338,-0.31,0.0,99.1,7.1,113,1465,0.98,0.00,118.50,0.619,6,0.118,0.000,2251,2892,3188
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1468,1.31,146.6,100.2,0.0,125,1596,1.65,2.78,117.10,0.606,4,0.072,0.067,2605,1503,2589
$GC,1620,0.98,146.6,78.4,20.4,133,1626,0.35,2.70,0.00,0.000,6,0.103,0.048,2539,2900,2588
$GC,1944,0.84,146.6,28.9,14.0,155,1948,0.15,1.65,0.00,0.000,4,0.106,0.064,2511,3767,2588
$STATE,2161,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,2.1,1.017798
$STATE,2196,end surface coast,CONTROL_FINISHED_OK
$STATE,2196,begin surface
$SM_CCo,2220,365.17,0.547,0,0,513,656.18
$SM_GC,1.16,0.00,0.00,365.17,0.000,0.000,0.547,71,2598,513,-10.36,-0.03,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,23.8,5.512
$10V_AH,10.1,1.964
$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,26.150,27.000,235.600,365.175,0.000,36.087,49.835,125.127,1.750,0.000,0.000,17.135,366.347,1109.713,675.351,526.834,316.730,33.367,973.021,0.000,513.124,0.000,10.575,0.000
$DEVICE_MAMPS,175.643,77.467,618.969,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,129.407,142.615,335.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9685,194
$CAP_FILE_SIZE,35618,0
$CFSIZE,260165632,258756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,210109,133926,4808.205,-12223.135,9,1.3,10,18.3