version: 66.04
glider: 16
mission: 11
dive: 6
start: 1 21 109 1 35 3
data:
$ID,16
$MISSION,11
$DIVE,6
$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,-2105540.5
$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,2100
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,18
$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,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
$GPS1,012914,4808.161,-12222.998,10,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.2
$GPS2,013344,4808.164,-12222.979,16,1.4,16,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.006,-0.264
$KALMAN_X,-674.9,-200.2,-114.0,600.6,-16.9
$KALMAN_Y,-162.4,206.0,-19.4,-971.1,226.3
$MHEAD_RNG_PITCHd_Wd,166.7,305,-27.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.81,-62.0,0.0,0.0,0,107,0.00,0.00,-86.97,0.000,2,0.000,0.000,72,2035,3247
$GC,110,-1.87,-119.8,4.1,-3.8,15,135,10.45,0.00,-11.18,0.000,6,0.173,0.000,1911,2035,3678
$GC,204,-1.59,-119.8,12.5,-12.7,31,211,0.32,2.92,0.00,0.000,4,0.141,0.077,1972,3504,3678
$GC,432,-1.59,-119.8,38.0,-11.4,58,437,0.00,2.72,0.00,0.000,6,0.000,0.064,1972,2096,3678
$GC,628,-1.65,-119.8,59.4,-10.7,72,633,0.00,2.72,0.00,0.000,4,0.000,0.070,1972,3506,3677
$GC,718,-1.70,-119.8,69.6,-11.2,76,726,0.00,2.75,0.00,0.000,6,0.000,0.063,1971,2100,3678
$STATE,1032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1039,-0.31,0.0,100.9,9.7,91,1139,1.42,0.00,96.30,0.633,6,0.117,0.000,2251,1942,3188
$STATE,1140,end apogee,CONTROL_FINISHED_OK
$STATE,1140,begin climb
$GC,1143,1.87,119.8,102.2,0.0,101,1250,2.20,2.95,95.35,0.615,4,0.064,0.077,2737,542,2698
$GC,1269,1.48,119.8,78.5,28.0,108,1276,0.47,2.80,0.00,0.000,6,0.123,0.046,2650,1947,2699
$GC,1596,1.36,119.8,7.0,18.1,139,1603,0.15,2.78,0.00,0.000,4,0.123,0.071,2624,3368,2699
$GC,1650,1.71,240.8,4.6,-3.0,148,1756,0.32,2.80,95.38,0.558,6,0.044,0.068,2703,1943,2204
$GC,1825,1.89,339.5,3.6,-0.6,178,1874,0.15,0.00,46.00,0.545,2,0.053,0.000,2744,1943,1964
$STATE,1875,end climb,SURFACE_DEPTH_REACHED
$STATE,1875,begin surface coast
$FINISH,2.8,1.017064
$STATE,2009,end surface coast,CONTROL_FINISHED_OK
$STATE,2009,begin surface
$SM_CCo,2032,283.38,0.551,0,0,513,656.18
$SM_GC,1.43,0.00,0.00,283.38,0.000,0.000,0.551,74,2099,513,-10.35,-0.03,656.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1864
$TCM_TEMP,17.40
$XPDR_PINGS,3
$24V_AH,23.8,3.940
$10V_AH,10.1,1.504
$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,27.875,23.125,333.025,283.375,0.000,18.481,23.273,131.132,2.250,0.000,0.000,16.183,349.170,868.970,634.650,496.002,280.823,33.322,938.221,0.000,486.147,0.000,11.828,0.000
$DEVICE_MAMPS,172.575,77.467,632.775,550.706,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,138.571,152.169,362.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9652,210
$CAP_FILE_SIZE,32842,0
$CFSIZE,260165632,259076096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210109,021455,4808.077,-12222.972,38,1.7,38,18.3