version: 66.04
glider: 116
mission: 16
dive: 55
start: 3 13 109 13 54 53
data:
$ID,116
$MISSION,16
$DIVE,55
$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,-53149.316
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,135014,4807.965,-12222.994,10,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.0
$GPS2,135350,4807.952,-12222.988,17,1.2,17,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,0.157
$KALMAN_X,4394.8,150.4,-105.6,-4425.4,-31.8
$KALMAN_Y,862.6,119.9,131.1,-887.7,-1.7
$MHEAD_RNG_PITCHd_Wd,6.6,90,-27.2,-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,14,-2.35,-63.1,0.0,0.0,0,80,0.00,0.00,-63.65,0.000,2,0.000,0.000,134,2356,3609
$GC,83,-2.41,-115.3,3.2,-4.4,12,112,14.52,2.62,-5.53,0.000,4,0.199,0.064,2445,945,3852
$GC,184,-2.41,-115.3,22.8,-16.6,29,189,0.00,2.50,0.00,0.000,6,0.000,0.041,2445,2347,3860
$GC,381,-2.41,-115.3,55.0,-16.0,47,385,0.00,2.65,0.00,0.000,4,0.000,0.073,2445,3750,3860
$GC,457,-2.41,-115.3,68.3,-17.9,53,464,0.00,2.50,0.00,0.000,6,0.000,0.038,2445,2352,3859
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,608,-0.42,0.0,91.1,15.5,67,755,2.25,0.00,140.82,0.695,6,0.123,0.000,2879,1943,3378
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,758,2.41,115.3,96.4,0.0,82,898,2.60,2.65,131.20,0.664,4,0.052,0.063,3461,546,2907
$GC,932,2.41,115.3,84.8,12.9,98,936,0.00,2.53,0.00,0.000,6,0.000,0.040,3461,1956,2902
$GC,1256,2.41,115.3,44.1,12.3,128,1261,0.00,2.62,0.00,0.000,4,0.000,0.061,3461,548,2903
$GC,1288,2.41,115.3,39.8,12.9,130,1298,0.00,2.53,5.38,0.514,6,0.000,0.040,3461,1950,2907
$GC,1493,2.41,115.3,14.5,11.9,153,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1950,2907
$GC,1565,2.41,115.3,6.3,10.7,166,1571,0.00,2.58,0.00,0.000,4,0.000,0.061,3461,3353,2891
$GC,1599,2.43,127.4,3.2,8.7,172,1617,0.00,2.47,10.20,0.590,6,0.000,0.039,3460,1953,2858
$STATE,1620,end climb,SURFACE_DEPTH_REACHED
$STATE,1620,begin surface coast
$FINISH,0.3,1.021483
$STATE,1650,end surface coast,CONTROL_FINISHED_OK
$STATE,1650,begin surface
$SM_CCo,1673,111.53,0.627,0,0,2053,325.02
$SM_GC,1.21,0.00,0.00,111.53,0.000,0.000,0.627,134,2358,2053,-13.07,0.20,325.02
$IRIDIUM_FIX,4751.72,-12220.85,070698,131301
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,29.271
$10V_AH,10.1,10.115
$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,34.925,27.125,287.600,111.525,0.000,24.465,24.414,93.502,0.000,0.000,0.000,17.449,299.588,751.958,445.206,349.460,187.102,33.329,683.810,0.000,328.660,0.000,14.633,0.000
$DEVICE_MAMPS,198.653,72.865,694.902,627.406,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,118.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,3330,181
$CAP_FILE_SIZE,28004,0
$CFSIZE,260034560,256430080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,142526,4808.103,-12222.867,13,1.4,13,18.3