version: 66.04
glider: 116
mission: 17
dive: 23
start: 4 9 109 14 8 6
data:
$ID,116
$MISSION,17
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,55
$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,450
$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,-54273.098
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2985
$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,2000
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3178
$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
$GPS1,140306,4807.441,-12222.819,9,1.2,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.3
$GPS2,140704,4807.506,-12222.835,13,5.4,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.088,0.245
$KALMAN_X,1780.0,179.8,-79.6,-1180.1,33.2
$KALMAN_Y,-1341.7,-61.6,256.4,940.7,181.4
$MHEAD_RNG_PITCHd_Wd,321.9,938,-17.5,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-63.00,0.000,2,0.000,0.000,135,1992,2986
$GC,82,-1.64,-146.6,3.4,-6.6,12,126,15.30,2.67,-20.23,0.000,4,0.189,0.076,2624,3402,3778
$GC,379,-1.64,-146.6,31.3,-10.2,55,385,0.00,2.50,0.00,0.000,6,0.000,0.042,2625,2000,3779
$GC,576,-1.64,-146.6,50.1,-9.4,74,580,0.00,2.62,0.00,0.000,4,0.000,0.066,2625,3406,3779
$GC,670,-1.64,-146.6,59.5,-9.9,82,675,0.00,2.50,0.00,0.000,6,0.000,0.042,2625,2000,3778
$GC,995,-1.64,-146.6,88.8,-8.9,112,999,0.00,2.58,0.00,0.000,4,0.000,0.061,2625,594,3778
$GC,1052,-1.64,-146.6,94.3,-9.9,116,1058,0.00,2.50,0.00,0.000,6,0.000,0.041,2625,2002,3778
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1198,-0.42,0.0,107.5,9.2,130,1377,1.33,0.00,171.52,0.681,6,0.094,0.000,2889,2213,3179
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,1.64,146.6,112.7,0.0,148,1560,2.05,2.72,169.80,0.651,4,0.058,0.072,3341,3614,2580
$GC,1678,1.64,146.6,88.8,12.6,176,1683,0.00,2.50,0.00,0.000,6,0.000,0.040,3341,2208,2578
$GC,2003,1.64,146.6,54.4,10.6,206,2007,0.00,2.65,0.00,0.000,4,0.000,0.068,3341,3617,2578
$GC,2080,1.64,146.6,45.5,11.6,212,2086,0.00,2.50,0.00,0.000,6,0.000,0.040,3341,2205,2578
$GC,2277,1.64,146.6,24.6,10.6,231,2281,0.00,2.65,0.00,0.000,4,0.000,0.067,3341,3617,2578
$GC,2399,1.64,146.6,11.3,10.0,248,2405,0.00,2.50,0.00,0.000,6,0.000,0.041,3341,2206,2578
$GC,2473,1.82,293.7,6.4,3.2,261,2601,0.17,0.00,124.50,0.630,2,0.056,0.000,3386,2206,1993
$STATE,2602,end climb,SURFACE_DEPTH_REACHED
$STATE,2602,begin surface coast
$FINISH,2.5,1.018830
$STATE,2708,end surface coast,CONTROL_FINISHED_OK
$STATE,2708,begin surface
$SM_CCo,2731,101.38,0.612,0,0,1343,450.13
$SM_GC,1.36,0.00,0.00,101.38,0.000,0.000,0.612,134,1993,1343,-13.11,-0.20,450.13
$IRIDIUM_FIX,4748.51,-12221.84,040798,131307
$TT8_MAMPS,0.026845
$HUMID,1718
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,33.201
$10V_AH,10.1,11.047
$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,34.200,31.650,465.825,101.375,0.000,23.934,26.847,99.570,0.000,0.000,0.000,33.346,448.865,1270.384,579.125,601.849,200.528,33.331,947.924,0.000,555.114,0.000,17.424,0.000
$DEVICE_MAMPS,189.449,75.933,681.096,612.066,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,199.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9613,304
$CAP_FILE_SIZE,37811,0
$CFSIZE,260034560,257212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,145628,4807.761,-12222.937,14,3.2,33,18.3