version: 66.04
glider: 117
mission: 17
dive: 35
start: 3 12 109 23 37 32
data:
$ID,117
$MISSION,17
$DIVE,35
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$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,35
$T_MISSION,55
$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,110
$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,325
$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,-102966.19
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2865
$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,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,25
$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
$GPS1,232120,4807.992,-12224.579,40,2.2,59,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.9
$GPS2,233638,4807.987,-12224.538,11,1.9,11,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.259,-0.033
$KALMAN_X,1391.9,36.4,43.1,-3394.3,38.4
$KALMAN_Y,-1464.9,51.8,57.2,1718.7,73.9
$MHEAD_RNG_PITCHd_Wd,79.0,1925,-18.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.58,-146.6,0.0,0.0,0,99,0.00,0.00,-79.00,0.000,2,0.000,0.000,408,1977,3781
$GC,104,-1.58,-146.6,3.5,-3.8,12,127,12.75,2.67,-3.10,0.000,4,0.186,0.084,2516,566,3924
$GC,256,-1.58,-146.6,24.2,-10.6,35,261,0.00,2.53,0.00,0.000,6,0.000,0.046,2515,1979,3925
$GC,454,-1.58,-146.6,44.5,-10.0,53,459,0.00,2.60,0.00,0.000,4,0.000,0.067,2516,3377,3925
$GC,483,-1.58,-146.6,47.5,-10.9,55,487,0.00,2.53,0.00,0.000,6,0.000,0.048,2516,1972,3925
$GC,680,-1.58,-146.6,68.1,-10.8,73,684,0.00,2.62,0.00,0.000,4,0.000,0.065,2516,3383,3925
$GC,719,-1.58,-146.6,72.6,-11.0,76,724,0.00,2.53,0.00,0.000,6,0.000,0.047,2516,1972,3925
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1007,-0.38,0.0,101.7,9.7,102,1135,1.33,0.00,116.85,0.718,6,0.109,0.000,2773,1542,3324
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1138,1.58,146.6,105.5,0.0,115,1262,2.05,0.00,115.80,0.689,6,0.071,0.000,3209,1542,2726
$GC,1576,1.62,182.2,72.2,8.4,157,1613,0.00,2.65,29.33,0.659,4,0.000,0.081,3208,161,2580
$GC,1649,1.63,183.6,65.5,9.9,163,1654,0.00,2.50,0.00,0.000,6,0.000,0.047,3208,1559,2578
$GC,1975,1.66,208.7,36.1,8.8,193,2002,0.00,2.75,22.55,0.643,4,0.000,0.082,3208,158,2473
$GC,2058,1.66,208.7,28.4,10.3,200,2062,0.00,2.50,0.00,0.000,6,0.000,0.048,3208,1557,2469
$GC,2261,1.69,236.3,9.5,8.7,228,2290,0.10,2.80,23.38,0.634,4,0.059,0.082,3237,154,2360
$STATE,2345,end climb,SURFACE_DEPTH_REACHED
$STATE,2345,begin surface coast
$FINISH,1.1,1.021503
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2357,begin surface
$SM_CCo,2385,52.65,0.627,0,0,1999,325.02
$SM_GC,1.08,0.00,0.00,52.65,0.000,0.000,0.627,411,1986,1999,-11.29,0.31,325.02
$IRIDIUM_FIX,4751.72,-12223.57,060698,232317
$TT8_MAMPS,0.108914
$HUMID,1623
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,29.665
$10V_AH,10.0,13.162
$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,29.175,32.825,307.900,52.650,0.000,198.278,55.259,343.363,0.000,0.000,110.979,11.043,497.636,1250.428,423.554,434.475,769.468,33.334,699.518,0.000,411.085,0.000,5.705,0.000
$DEVICE_MAMPS,185.614,84.370,717.912,627.406,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,176.513,0.000,0.000,0.000,0.000,0.000,42.493,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6439,244
$CAP_FILE_SIZE,71430,0
$CFSIZE,260165632,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,001916,4807.967,-12224.146,8,2.2,27,18.3