version: 66.04
glider: 116
mission: 17
dive: 25
start: 4 9 109 15 50 8
data:
$ID,116
$MISSION,17
$DIVE,25
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,500
$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,-54321.641
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$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
$GPS1,154538,4807.913,-12222.908,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.7
$GPS2,154906,4807.933,-12222.932,15,1.8,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.113,0.132
$KALMAN_X,1923.5,131.0,-34.2,-1439.1,30.4
$KALMAN_Y,-1489.3,90.9,267.0,1719.8,-10.2
$MHEAD_RNG_PITCHd_Wd,301.1,150,-27.2,-10.000
$D_GRID,101
$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,-2.35,-63.1,0.0,0.0,0,80,0.00,0.00,-63.55,0.000,2,0.000,0.000,136,1988,2794
$GC,82,-2.36,-74.3,3.6,-8.8,12,117,14.48,2.58,-13.40,0.000,4,0.194,0.068,2465,592,3480
$GC,368,-2.36,-74.3,36.6,-11.0,49,375,0.00,2.53,0.00,0.000,6,0.000,0.041,2465,1997,3481
$GC,566,-2.36,-74.3,59.6,-12.0,68,570,0.00,2.58,0.00,0.000,4,0.000,0.058,2464,597,3481
$STATE,824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,824,begin apogee
$GC,832,-0.42,0.0,90.4,12.0,90,928,2.17,0.00,86.82,0.690,6,0.120,0.000,2888,2248,3178
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,930,2.36,74.3,93.7,0.0,100,1028,2.58,2.75,86.60,0.662,4,0.058,0.073,3455,3651,2875
$GC,1202,2.36,74.3,70.1,10.9,125,1206,0.00,2.47,0.00,0.000,6,0.000,0.039,3455,2251,2875
$GC,1527,2.37,81.9,38.2,9.2,155,1542,0.00,2.67,10.20,0.604,4,0.000,0.069,3455,3656,2844
$GC,1643,2.37,81.9,26.9,10.2,165,1647,0.00,2.50,0.00,0.000,6,0.000,0.040,3455,2245,2844
$GC,1846,2.41,116.5,10.1,6.3,193,1885,0.00,2.58,32.05,0.631,4,0.000,0.056,3455,841,2702
$GC,2137,2.51,197.9,9.7,1.3,245,2218,0.00,2.50,73.88,0.630,6,0.000,0.041,3455,2252,2371
$GC,2286,2.63,295.4,9.2,-0.4,272,2381,0.00,0.00,89.97,0.612,6,0.000,0.000,3455,2252,1973
$GC,2449,2.74,382.3,5.9,0.8,302,2514,0.00,0.00,62.22,0.604,2,0.000,0.000,3455,2252,1690
$STATE,2514,end climb,SURFACE_DEPTH_REACHED
$STATE,2514,begin surface coast
$FINISH,0.8,1.016591
$STATE,2611,end surface coast,CONTROL_FINISHED_OK
$STATE,2612,begin surface
$SM_CCo,2635,79.97,0.597,0,0,1139,500.17
$SM_GC,0.95,0.00,0.00,79.97,0.000,0.000,0.597,132,1984,1139,-13.12,-0.45,500.17
$IRIDIUM_FIX,4751.72,-12223.57,040798,151516
$TT8_MAMPS,0.026845
$HUMID,1724
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,33.403
$10V_AH,10.1,11.093
$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,34.800,26.625,441.750,79.975,0.000,23.395,25.504,73.860,0.000,0.000,0.000,31.121,474.818,1131.732,523.105,648.778,175.011,33.327,909.516,0.000,605.481,0.000,14.619,0.000
$DEVICE_MAMPS,194.051,72.865,690.300,596.726,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,216.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9570,331
$CAP_FILE_SIZE,36945,0
$CFSIZE,260034560,257163264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,163628,4807.937,-12223.123,9,5.9,28,18.3