version: 66.04
glider: 116
mission: 17
dive: 1
start: 4 8 109 19 2 19
data:
$ID,116
$MISSION,17
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,640
$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,-53620.121
$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,2027
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$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,-0.23661056
$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
$GPS1,185815,4808.262,-12223.552,10,2.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-60.1
$GPS2,190116,4808.316,-12223.605,13,6.5,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.207,-0.157
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,108.8,969,-17.5,-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,-1.64,-146.6,0.0,0.0,0,111,0.00,0.00,-94.60,0.000,2,0.000,0.000,126,2018,3055
$GC,114,-1.64,-146.6,3.6,-7.3,18,159,14.82,2.67,-20.05,0.000,4,0.183,0.081,2613,3429,3977
$GC,175,-1.64,-146.6,11.9,-11.3,29,181,0.00,2.47,0.00,0.000,6,0.000,0.044,2614,2028,3976
$GC,249,-1.64,-146.6,19.5,-9.8,42,255,0.00,2.55,0.00,0.000,4,0.000,0.059,2614,615,3976
$GC,343,-1.64,-146.6,29.8,-10.6,51,350,0.00,2.53,0.00,0.000,6,0.000,0.044,2614,2021,3977
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,500,-0.42,0.0,45.9,11.3,66,670,1.35,0.00,166.00,0.673,6,0.102,0.000,2882,2021,3378
$STATE,671,end apogee,CONTROL_FINISHED_OK
$STATE,671,begin climb
$GC,673,1.64,146.6,53.5,0.0,83,845,2.05,0.00,165.85,0.641,6,0.062,0.000,3329,2021,2780
$GC,1161,1.69,192.3,25.8,7.9,130,1217,0.00,2.70,49.80,0.627,4,0.000,0.072,3329,3444,2594
$GC,1347,1.84,308.7,10.2,4.6,156,1458,0.22,2.53,101.65,0.619,6,0.066,0.044,3376,2027,2118
$GC,1525,2.15,560.1,4.8,-1.6,189,1632,0.28,0.00,103.12,0.605,2,0.052,0.000,3444,2027,1572
$STATE,1633,end climb,SURFACE_DEPTH_REACHED
$STATE,1633,begin surface coast
$FINISH,0.1,1.008521
$STATE,1705,end surface coast,CONTROL_FINISHED_OK
$STATE,1705,begin surface
$SM_CCo,1727,114.93,0.592,0,0,767,640.23
$SM_GC,0.89,0.00,0.00,114.93,0.000,0.000,0.592,132,2021,767,-13.08,-0.17,640.23
$IRIDIUM_FIX,4751.72,-12223.57,030798,191950
$TT8_MAMPS,0.026845
$HUMID,1750
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.90
$XPDR_PINGS,-1
$24V_AH,23.9,30.070
$10V_AH,10.2,10.353
$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,33.850,15.450,586.425,114.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,33.079,267.689,538.837,690.254,422.073,29.757,29.237,1002.024,0.000,385.778,0.000,10.223,0.000
$DEVICE_MAMPS,182.546,80.535,673.426,592.124,0.000,103.000,160.000,223.000,0.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,140.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6423,222
$CAP_FILE_SIZE,41242,0
$CFSIZE,260034560,257880064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,193406,4808.494,-12223.627,14,1.0,30,18.3