version: 66.04
glider: 117
mission: 17
dive: 14
start: 3 12 109 6 24 19
data:
$ID,117
$MISSION,17
$DIVE,14
$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,-102512.89
$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,31
$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
$GPS1,061440,4807.653,-12223.423,38,1.6,47,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.2
$GPS2,062326,4807.619,-12223.439,11,1.6,11,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.108,0.237
$KALMAN_X,514.9,137.3,-53.7,-1165.8,52.2
$KALMAN_Y,-1178.2,-287.2,-106.7,1254.5,-122.0
$MHEAD_RNG_PITCHd_Wd,6.2,905,-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,16,-1.58,-146.6,0.0,0.0,0,99,0.00,0.00,-78.95,0.000,2,0.000,0.000,409,1979,3541
$GC,102,-1.58,-146.6,3.3,-6.6,12,132,12.73,2.55,-8.65,0.000,4,0.188,0.077,2498,3370,3923
$GC,210,-1.58,-146.6,19.0,-10.9,30,218,0.00,2.53,0.00,0.000,6,0.000,0.050,2498,1975,3924
$GC,288,-1.58,-146.6,27.9,-11.2,38,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1975,3924
$GC,480,-1.58,-146.6,49.0,-10.9,56,485,0.00,2.60,0.00,0.000,4,0.000,0.066,2498,3372,3924
$GC,565,-1.58,-146.6,58.5,-11.0,63,569,0.00,2.53,0.00,0.000,6,0.000,0.048,2498,1965,3924
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,868,begin apogee
$GC,874,-0.38,0.0,90.4,10.1,91,996,1.35,0.00,115.57,0.706,6,0.108,0.000,2761,1634,3324
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,999,1.58,146.6,94.6,0.0,103,1122,2.05,0.00,115.18,0.679,6,0.072,0.000,3193,1633,2726
$GC,1438,1.63,188.5,62.3,8.1,144,1478,0.00,2.80,34.30,0.654,4,0.000,0.086,3193,215,2554
$GC,1525,1.65,203.5,54.3,9.3,151,1549,0.00,2.55,13.35,0.614,6,0.000,0.048,3193,1638,2493
$GC,1867,1.67,216.9,23.0,9.4,183,1884,0.00,2.75,11.90,0.611,4,0.000,0.084,3193,219,2439
$GC,1969,1.69,237.1,13.2,9.1,197,1996,0.12,2.53,17.75,0.620,6,0.051,0.048,3227,1632,2355
$GC,2065,1.75,286.1,4.9,7.8,213,2106,0.00,0.00,38.80,0.625,2,0.000,0.000,3227,1632,2160
$STATE,2106,end climb,SURFACE_DEPTH_REACHED
$STATE,2107,begin surface coast
$FINISH,0.3,1.012292
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2136,begin surface
$SM_CCo,2159,44.03,0.612,0,0,1796,375.06
$SM_GC,1.14,0.00,0.00,44.03,0.000,0.000,0.612,406,1977,1796,-11.24,0.03,375.06
$IRIDIUM_FIX,4748.51,-12226.29,060698,050550
$TT8_MAMPS,0.102778
$HUMID,1612
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.60
$XPDR_PINGS,-1
$24V_AH,23.6,27.156
$10V_AH,10.0,12.451
$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,29.050,22.075,346.850,44.025,0.000,98.678,24.798,212.985,0.000,0.000,113.450,11.393,439.744,987.564,440.749,407.628,473.233,33.321,707.275,0.000,381.783,0.000,5.705,0.000
$DEVICE_MAMPS,187.915,85.904,706.407,612.066,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,161.643,0.000,0.000,0.000,0.000,0.000,37.276,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6463,224
$CAP_FILE_SIZE,55685,0
$CFSIZE,260165632,257900544
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,070150,4807.775,-12223.168,10,1.5,10,18.3