version: 66.04
glider: 16
mission: 11
dive: 4
start: 1 20 109 23 47 38
data:
$ID,16
$MISSION,11
$DIVE,4
$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,-2105495
$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,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,23
$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,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,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
$GPS1,234156,4808.192,-12223.186,12,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.9
$GPS2,234620,4808.229,-12223.188,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.153,-0.117
$KALMAN_X,-447.9,-125.6,-100.7,28.4,-74.7
$KALMAN_Y,-502.1,211.4,167.5,-701.1,-185.7
$MHEAD_RNG_PITCHd_Wd,133.0,483,-19.7,-10.000
$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,14,begin dive
$GC,17,-1.37,-124.0,0.0,0.0,0,117,0.00,0.00,-97.07,0.000,2,0.000,0.000,72,2041,3428
$GC,120,-1.39,-146.6,4.0,-5.5,17,147,11.07,2.83,-9.12,0.000,4,0.173,0.087,2015,3443,3788
$GC,222,-1.13,-146.6,13.2,-9.0,34,229,0.32,2.78,0.00,0.000,6,0.120,0.071,2075,2024,3788
$GC,298,-1.13,-146.6,19.4,-7.7,47,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2024,3788
$GC,375,-1.18,-146.6,25.5,-8.3,55,380,0.00,2.83,0.00,0.000,4,0.000,0.074,2075,3438,3788
$GC,494,-1.24,-146.6,35.3,-7.8,65,499,0.00,2.78,0.00,0.000,6,0.000,0.070,2075,2031,3788
$GC,693,-1.39,-146.6,50.1,-7.2,83,698,0.22,2.80,0.00,0.000,4,0.041,0.072,2007,3438,3788
$GC,825,-1.29,-146.6,63.6,-10.3,89,830,0.17,2.75,0.00,0.000,6,0.107,0.069,2039,2034,3788
$GC,1158,-1.35,-146.6,91.1,-8.0,105,1162,0.00,2.78,0.00,0.000,4,0.000,0.071,2039,3441,3788
$STATE,1244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1244,begin apogee
$GC,1253,-0.31,0.0,99.1,7.7,109,1374,1.05,0.00,117.07,0.634,6,0.114,0.000,2249,2031,3188
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1378,1.39,146.6,100.6,0.0,120,1504,1.75,0.00,116.00,0.616,6,0.073,0.000,2624,2031,2589
$GC,1819,1.10,146.6,19.8,19.1,149,1826,0.30,2.83,0.00,0.000,4,0.109,0.074,2566,625,2588
$GC,2080,1.38,338.5,3.7,-0.3,195,2188,0.28,2.78,100.22,0.558,2,0.041,0.047,2634,2037,2067
$STATE,2188,end climb,SURFACE_DEPTH_REACHED
$STATE,2188,begin surface coast
$FINISH,2.6,1.017906
$STATE,2350,end surface coast,CONTROL_FINISHED_OK
$STATE,2351,begin surface
$SM_CCo,2373,299.48,0.554,0,0,512,656.18
$SM_GC,1.56,0.00,0.00,299.48,0.000,0.000,0.554,73,2036,512,-10.36,0.14,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1896
$TCM_TEMP,17.30
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,23.8,3.704
$10V_AH,10.1,1.432
$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,26.825,27.900,333.300,299.475,0.000,18.098,26.501,111.192,4.250,0.000,0.000,13.988,408.748,1051.325,665.464,574.111,279.544,32.325,992.685,0.000,562.099,0.000,14.729,0.000
$DEVICE_MAMPS,173.342,86.671,634.309,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,161.750,180.377,417.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12778,242
$CAP_FILE_SIZE,36116,0
$CFSIZE,260165632,259121152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,210109,003322,4808.176,-12223.120,12,2.6,32,18.3