version: 66.04
glider: 116
mission: 17
dive: 27
start: 4 9 109 17 30 13
data:
$ID,116
$MISSION,17
$DIVE,27
$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,45
$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,-54373.676
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,172552,4808.070,-12223.042,11,2.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.4
$GPS2,172909,4808.073,-12223.079,15,1.4,16,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.096,-0.029
$KALMAN_X,1782.2,58.6,6.6,-1444.1,-25.3
$KALMAN_Y,-1600.5,172.6,128.7,2141.6,-96.5
$MHEAD_RNG_PITCHd_Wd,88.3,166,-43.1,-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,-3.63,-26.3,0.0,0.0,0,85,0.00,0.00,-68.80,0.000,2,0.000,0.000,132,1999,2537
$GC,88,-3.65,-42.9,3.3,-5.8,13,127,12.93,2.65,-17.73,0.000,4,0.199,0.075,2185,3402,3356
$GC,346,-3.65,-42.9,32.7,-12.3,49,350,0.00,2.50,0.00,0.000,6,0.000,0.042,2185,1995,3357
$GC,542,-3.65,-42.9,59.6,-14.2,67,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1995,3357
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,772,-0.42,0.0,90.5,14.3,88,831,3.90,0.00,52.15,0.676,6,0.151,0.000,2887,2253,3178
$STATE,831,end apogee,CONTROL_FINISHED_OK
$STATE,831,begin climb
$GC,833,3.65,42.9,93.4,0.0,94,896,2.58,2.70,51.33,0.655,4,0.059,0.073,3455,3641,3003
$GC,952,3.66,54.2,87.2,7.1,105,974,0.00,2.47,14.38,0.617,6,0.000,0.040,3455,2243,2957
$GC,1291,3.67,64.0,60.4,7.5,137,1313,0.00,2.72,13.07,0.620,4,0.000,0.070,3456,3648,2917
$GC,1380,3.68,70.5,52.7,8.3,145,1394,0.00,2.47,9.38,0.591,6,0.000,0.040,3456,2249,2890
$GC,1720,3.69,79.8,25.3,7.6,177,1733,0.00,0.00,11.70,0.609,6,0.000,0.000,3456,2249,2852
$GC,1930,3.73,109.4,10.4,2.5,209,1963,0.00,2.72,27.83,0.629,4,0.000,0.067,3456,3648,2732
$GC,2048,3.78,154.1,9.5,-1.4,230,2096,0.00,2.47,42.20,0.624,6,0.000,0.039,3456,2247,2549
$GC,2164,3.82,186.4,8.6,1.8,251,2202,0.00,2.70,29.70,0.611,4,0.000,0.067,3455,3641,2417
$GC,2454,3.87,223.4,6.4,0.6,303,2493,0.00,2.45,33.35,0.620,6,0.000,0.039,3456,2249,2267
$GC,2560,3.92,268.8,5.6,-1.6,322,2609,0.00,2.60,41.22,0.613,4,0.000,0.057,3456,846,2081
$GC,2626,3.96,299.5,4.7,2.2,334,2659,0.00,2.50,28.35,0.596,6,0.000,0.040,3455,2249,1956
$GC,2710,4.38,635.9,4.3,0.4,349,2748,0.00,0.00,36.15,0.598,2,0.000,0.000,3455,2249,1793
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,1.6,1.017257
$STATE,3030,end surface coast,CONTROL_FINISHED_OK
$STATE,3030,begin surface
$SM_CCo,3054,92.35,0.607,0,0,1139,500.17
$SM_GC,0.97,0.00,0.00,92.35,0.000,0.000,0.607,134,1981,1139,-13.12,-0.54,500.17
$IRIDIUM_FIX,4748.51,-12224.57,040798,161611
$TT8_MAMPS,0.026845
$HUMID,1750
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.90
$XPDR_PINGS,-1
$24V_AH,23.7,33.608
$10V_AH,10.1,11.141
$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,35.000,31.925,390.800,92.350,0.000,28.977,31.177,66.747,0.000,0.000,0.000,16.525,586.551,1417.649,510.637,680.779,180.701,33.323,918.919,0.000,653.407,0.000,14.630,0.000
$DEVICE_MAMPS,199.420,75.166,675.727,606.697,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,268.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,12696,406
$CAP_FILE_SIZE,42339,1
$CFSIZE,260034560,257110016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,182346,4808.031,-12222.872,11,2.1,30,18.3