version: 66.04
glider: 116
mission: 17
dive: 28
start: 4 9 109 18 29 35
data:
$ID,116
$MISSION,17
$DIVE,28
$D_SURF,4
$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,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,-54387.23
$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,29
$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
$GPS1,182346,4808.031,-12222.872,11,2.1,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.4
$GPS2,182831,4808.031,-12222.941,12,2.0,12,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.098,-0.022
$KALMAN_X,1773.3,39.3,26.3,-1268.4,-41.6
$KALMAN_Y,-1560.3,188.4,36.5,2101.6,-49.4
$MHEAD_RNG_PITCHd_Wd,239.0,93,-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,-26.3,0.0,0.0,0,70,0.00,0.00,-53.30,0.000,2,0.000,0.000,134,1979,2537
$GC,72,-3.65,-46.7,3.1,-4.8,10,111,12.68,2.53,-19.20,0.000,4,0.193,0.066,2185,598,3371
$GC,173,-3.65,-48.8,16.7,-9.5,28,179,0.00,2.47,0.00,0.000,6,0.000,0.038,2185,2003,3371
$GC,250,-3.66,-56.0,22.8,-8.2,39,256,0.00,2.58,-0.47,0.000,4,0.000,0.074,2185,3407,3409
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,413,-0.42,0.0,45.3,15.7,52,490,3.92,0.00,66.78,0.649,6,0.153,0.000,2887,2243,3178
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,492,3.66,56.0,48.7,0.0,60,567,2.58,2.65,65.65,0.630,4,0.059,0.054,3454,840,2949
$GC,582,3.68,70.6,44.4,6.3,68,610,0.00,2.53,18.52,0.596,6,0.000,0.041,3454,2247,2890
$GC,800,3.69,75.5,24.4,8.7,89,812,0.00,2.72,6.85,0.532,4,0.000,0.071,3454,3657,2870
$GC,1065,3.73,112.7,11.0,0.5,131,1108,0.00,2.50,35.38,0.617,6,0.000,0.038,3454,2238,2718
$GC,1176,3.78,151.3,10.1,0.2,151,1219,0.00,2.70,36.62,0.611,4,0.000,0.066,3454,3654,2560
$GC,1393,3.83,190.4,8.4,0.1,190,1437,0.00,2.47,35.92,0.611,6,0.000,0.039,3454,2246,2401
$GC,1504,3.87,226.8,7.7,0.7,210,1511,0.00,0.00,5.15,0.479,2,0.000,0.000,3454,2246,2385
$STATE,1512,end climb,NO_VERTICAL_VELOCITY
$STATE,1512,begin surface
$SM_CCo,1514,298.17,0.594,0,0,740,598.04
$SM_GC,0.94,15.20,0.00,0.00,0.050,0.000,0.000,132,1989,735,-13.09,-0.31,599.27
$IRIDIUM_FIX,4751.72,-12207.50,040798,171748
$TT8_MAMPS,0.026845
$HUMID,1709
$INTERNAL_PRESSURE,10.6547
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,33.717
$10V_AH,10.1,11.161
$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,34.375,25.700,270.875,298.175,0.000,25.010,25.234,153.320,0.000,0.000,0.000,12.926,333.625,647.790,616.407,383.279,259.779,33.318,872.224,0.000,368.228,0.000,11.040,0.000
$DEVICE_MAMPS,193.284,73.632,648.882,593.658,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,137.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6450,211
$CAP_FILE_SIZE,32487,0
$CFSIZE,260034560,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,190246,4807.960,-12223.065,11,2.4,30,18.3