version: 66.04
glider: 117
mission: 17
dive: 12
start: 3 12 109 4 49 50
data:
$ID,117
$MISSION,17
$DIVE,12
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1025
$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,0
$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,51426
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,375
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102465.77
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3715
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.0527511
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,1
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,044008,4807.582,-12224.080,8,1.9,8,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.0
$GPS2,044858,4807.530,-12224.112,13,3.1,32,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.173,0.195
$KALMAN_X,270.4,155.9,-40.2,-1784.9,-77.7
$KALMAN_Y,-815.9,-206.5,-1.5,544.3,-206.4
$MHEAD_RNG_PITCHd_Wd,23.3,1647,-18.2,-10.000
$D_GRID,90
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.58,-146.6,0.0,0.0,0,97,0.00,0.00,-77.97,0.000,2,0.000,0.000,410,1978,3531
$GC,101,-1.58,-146.6,3.3,-5.9,12,130,12.70,2.70,-8.50,0.000,4,0.186,0.089,2501,567,3924
$GC,258,-1.58,-146.6,27.5,-12.3,34,266,0.00,2.53,0.00,0.000,6,0.000,0.047,2501,1973,3924
$GC,456,-1.58,-146.6,48.1,-10.1,53,460,0.00,2.62,0.00,0.000,4,0.000,0.067,2501,3382,3924
$GC,642,-1.58,-146.6,66.9,-9.9,69,646,0.00,2.55,0.00,0.000,6,0.000,0.048,2500,1964,3924
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,885,-0.38,0.0,90.4,10.1,91,1007,1.33,0.00,115.80,0.712,6,0.111,0.000,2758,1631,3323
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1011,1.58,146.6,94.3,0.0,103,1138,2.08,2.78,115.35,0.676,4,0.074,0.084,3194,218,2725
$GC,1144,1.65,203.7,87.1,7.4,115,1198,0.00,2.58,46.47,0.653,6,0.000,0.048,3194,1642,2492
$GC,1515,1.66,208.6,52.8,9.8,150,1528,0.00,2.78,4.70,0.494,4,0.000,0.085,3194,221,2472
$GC,1623,1.67,221.6,42.2,9.4,159,1643,0.00,2.53,12.25,0.613,6,0.000,0.048,3194,1630,2419
$GC,1833,1.72,260.6,24.2,8.2,179,1873,0.15,2.80,32.78,0.639,4,0.047,0.086,3236,226,2260
$GC,1924,1.72,260.6,14.9,10.4,191,1932,0.00,2.53,0.00,0.000,6,0.000,0.048,3236,1643,2257
$GC,2002,1.75,285.5,7.9,8.9,204,2030,0.00,2.78,21.10,0.618,4,0.000,0.084,3236,226,2160
$GC,2053,1.78,312.0,3.5,8.8,212,2076,0.00,2.53,16.95,0.603,2,0.000,0.049,3236,1628,2077
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2077,begin surface coast
$FINISH,0.3,1.010969
$STATE,2101,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2124,35.65,0.611,0,0,1794,375.06
$SM_GC,1.01,0.00,0.00,35.65,0.000,0.000,0.611,410,1986,1794,-11.22,0.31,375.06
$IRIDIUM_FIX,4748.51,-12221.84,060698,040419
$TT8_MAMPS,0.105846
$HUMID,1605
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,26.914
$10V_AH,10.0,12.384
$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,29.050,32.950,365.400,35.650,0.000,93.120,25.945,199.784,0.000,0.000,113.600,33.176,432.134,911.581,459.720,450.138,454.877,33.325,741.080,0.000,402.117,0.000,5.711,0.000
$DEVICE_MAMPS,186.381,88.972,711.776,611.299,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,158.269,0.000,0.000,0.000,0.000,0.000,34.715,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6422,219
$CAP_FILE_SIZE,56266,0
$CFSIZE,260165632,257990656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,052658,4807.604,-12223.737,10,4.2,29,18.3