version: 66.04
glider: 116
mission: 16
dive: 54
start: 3 13 109 13 12 6
data:
$ID,116
$MISSION,16
$DIVE,54
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1050
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,90
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,51242
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-53131.238
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2975
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3378
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.077300362
$PRESSURE_SLOPE,0.0001158926
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,130716,4807.997,-12223.335,13,2.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.1
$GPS2,131104,4807.975,-12223.322,14,2.8,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.260,-0.002
$KALMAN_X,4407.2,180.6,-93.5,-4892.7,-49.9
$KALMAN_Y,903.7,119.9,116.0,-872.8,49.9
$MHEAD_RNG_PITCHd_Wd,72.2,425,-17.5,-10.000
$D_GRID,105
$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,14,-1.64,-146.6,0.0,0.0,0,79,0.00,0.00,-63.03,0.000,2,0.000,0.000,135,2346,3607
$GC,82,-1.64,-146.6,3.3,-5.0,12,111,15.48,2.62,-8.32,0.000,4,0.196,0.063,2613,944,3976
$GC,301,-1.64,-146.6,31.8,-11.8,42,308,0.00,2.53,0.00,0.000,6,0.000,0.042,2613,2343,3977
$GC,498,-1.64,-146.6,53.3,-10.9,61,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2343,3978
$GC,817,-1.64,-146.6,87.2,-10.6,91,821,0.00,2.65,0.00,0.000,4,0.000,0.074,2613,3749,3978
$STATE,848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,848,begin apogee
$GC,855,-0.42,0.0,90.2,11.3,93,1042,1.33,0.00,178.00,0.689,6,0.098,0.000,2879,1952,3378
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1044,1.64,146.6,98.0,0.0,112,1223,2.03,2.72,168.55,0.660,4,0.054,0.063,3335,542,2780
$GC,1414,1.64,146.6,68.1,11.0,146,1418,0.00,2.53,0.00,0.000,6,0.000,0.039,3335,1959,2778
$GC,1738,1.64,146.6,34.0,10.4,176,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1959,2777
$GC,1931,1.64,146.6,14.7,10.3,198,1937,0.00,2.62,0.00,0.000,4,0.000,0.061,3335,549,2777
$GC,2004,1.64,146.6,6.9,10.4,211,2010,0.00,2.50,0.00,0.000,6,0.000,0.040,3335,1956,2758
$STATE,2077,end climb,SURFACE_DEPTH_REACHED
$STATE,2078,begin surface coast
$FINISH,0.7,1.021699
$STATE,2116,end surface coast,CONTROL_FINISHED_OK
$STATE,2116,begin surface
$SM_CCo,2139,103.50,0.629,0,0,2053,325.02
$SM_GC,1.27,0.00,0.00,103.50,0.000,0.000,0.629,134,2355,2053,-13.07,0.14,325.02
$IRIDIUM_FIX,4748.51,-12221.84,070698,121239
$TT8_MAMPS,0.026845
$HUMID,1535
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,29.189
$10V_AH,10.1,10.099
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.750,22.150,346.550,103.500,0.000,25.942,24.515,90.173,0.000,0.000,0.000,34.394,362.046,1014.138,481.462,461.103,182.873,33.338,757.603,0.000,419.262,0.000,14.661,0.000
$DEVICE_MAMPS,196.352,74.399,688.766,628.940,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,152.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6478,231
$CAP_FILE_SIZE,28764,0
$CFSIZE,260034560,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,135014,4807.965,-12222.994,10,1.1,10,18.3