version: 66.04
glider: 16
mission: 10
dive: 34
start: 10 16 108 16 42 34
data:
$ID,16
$MISSION,10
$DIVE,34
$D_SURF,4
$D_FLARE,3
$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,300
$USE_BATHY,0
$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,400
$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,-2104674.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2260
$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,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3225
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-20.715818
$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,20
$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,6
$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
$GPS1,163804,4807.304,-12222.655,9,2.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.5
$GPS2,164144,4807.347,-12222.701,11,1.4,16,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.101,0.244
$KALMAN_X,-16397.7,17772.9,-4076.1,3299.6,532.0
$KALMAN_Y,6525.4,1386.9,2942.5,-11746.4,-1507.5
$MHEAD_RNG_PITCHd_Wd,324.7,1265,-18.1,-10.000
$D_GRID,150
$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,-1.29,-146.6,0.0,0.0,0,81,0.00,0.00,-63.75,0.000,2,0.000,0.000,75,2031,3253
$GC,85,-1.29,-146.6,3.3,-5.7,11,117,11.00,2.62,-14.00,0.000,4,0.179,0.071,1973,606,3823
$GC,371,-1.06,-146.6,35.1,-10.6,49,376,0.30,2.58,0.00,0.000,6,0.134,0.050,2025,2034,3822
$GC,579,-1.06,-146.6,52.4,-8.3,67,583,0.00,2.65,0.00,0.000,4,0.000,0.072,2024,3444,3822
$GC,679,-1.06,-146.6,61.4,-8.4,71,685,0.00,2.58,0.00,0.000,6,0.000,0.058,2025,2031,3822
$GC,995,-1.06,-146.6,86.2,-7.5,87,1000,0.00,2.67,0.00,0.000,4,0.000,0.072,2026,3445,3822
$GC,1204,-1.06,-146.6,103.6,-8.1,98,1209,0.00,2.60,0.00,0.000,6,0.000,0.058,2026,2030,3822
$STATE,1378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1378,begin apogee
$GC,1385,-0.31,0.0,117.0,7.3,114,1505,0.80,0.00,116.32,0.667,6,0.103,0.000,2187,2030,3225
$STATE,1506,end apogee,CONTROL_FINISHED_OK
$STATE,1506,begin climb
$GC,1508,1.29,146.6,119.1,0.0,126,1632,1.65,2.67,115.50,0.656,4,0.077,0.061,2535,614,2626
$GC,1711,1.13,146.6,91.4,16.2,143,1716,0.15,2.60,0.00,0.000,6,0.098,0.044,2507,2036,2626
$GC,2034,0.99,146.6,40.8,15.3,161,2036,0.15,0.00,0.00,0.000,6,0.100,0.000,2479,2036,2626
$GC,2226,0.99,146.6,15.0,12.2,182,2232,0.00,2.65,0.00,0.000,4,0.000,0.070,2479,3451,2626
$GC,2268,0.94,146.6,9.6,13.3,189,2274,0.00,2.62,0.00,0.000,6,0.000,0.061,2479,2031,2627
$STATE,2318,end climb,SURFACE_DEPTH_REACHED
$STATE,2318,begin surface coast
$FINISH,3.5,1.019737
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2408,137.77,0.566,3,0,1593,400.08
$SM_GC,1.04,0.00,0.00,137.77,0.000,0.000,0.566,74,2031,1593,-10.06,-0.03,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1833
$TCM_TEMP,18.20
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,90.0,36.7
$24V_AH,23.7,2.829
$10V_AH,10.1,1.103
$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,24.875,26.250,231.825,137.775,0.000,0.000,0.000,0.000,13.000,0.000,0.000,16.081,376.042,1245.732,421.197,536.341,54.650,33.310,709.521,0.000,526.170,0.000,11.744,0.000
$DEVICE_MAMPS,179.478,72.098,667.290,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,140.634,159.822,362.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9670,210
$CAP_FILE_SIZE,40627,0
$CFSIZE,260165632,258523136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,161008,172626,4807.558,-12222.715,31,1.6,32,18.3