version: 66.04
glider: 116
mission: 17
dive: 24
start: 4 9 109 15 0 46
data:
$ID,116
$MISSION,17
$DIVE,24
$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,30
$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,-54289.891
$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,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,145628,4807.761,-12222.937,14,3.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.9
$GPS2,145943,4807.800,-12222.957,11,1.2,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.048,0.167
$KALMAN_X,1836.8,146.6,-64.3,-1367.4,30.5
$KALMAN_Y,-1406.4,26.0,281.3,1441.3,75.5
$MHEAD_RNG_PITCHd_Wd,325.7,375,-27.2,-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,-2.35,-63.1,0.0,0.0,0,59,0.00,0.00,-43.05,0.000,2,0.000,0.000,134,1992,2474
$GC,62,-2.37,-80.9,3.3,-8.1,8,107,14.52,2.70,-24.98,0.000,4,0.196,0.074,2463,3412,3510
$GC,359,-2.37,-80.9,35.8,-11.8,49,366,0.00,2.55,0.00,0.000,6,0.000,0.041,2463,1999,3510
$GC,556,-2.37,-80.9,58.4,-11.8,68,560,0.00,2.62,0.00,0.000,4,0.000,0.065,2463,3407,3510
$GC,796,-2.37,-80.9,87.4,-11.6,89,801,0.00,2.50,0.00,0.000,6,0.000,0.042,2463,1999,3510
$STATE,825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,825,begin apogee
$GC,830,-0.42,0.0,90.5,11.5,91,930,2.20,0.00,95.25,0.684,6,0.120,0.000,2890,2219,3178
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,932,2.37,80.9,93.7,0.0,101,1037,2.55,2.65,94.43,0.654,4,0.057,0.070,3455,3608,2848
$GC,1082,2.37,80.9,83.9,11.1,115,1086,0.00,2.50,0.00,0.000,6,0.000,0.040,3455,2204,2847
$GC,1407,2.37,80.9,50.4,10.1,145,1411,0.00,2.65,0.00,0.000,4,0.000,0.067,3455,3608,2847
$GC,1596,2.37,80.9,30.7,12.2,161,1602,0.00,2.47,0.00,0.000,6,0.000,0.039,3455,2211,2847
$GC,1797,2.38,87.4,14.0,9.3,186,1810,0.00,2.65,7.72,0.568,4,0.000,0.058,3456,800,2821
$GC,2062,2.53,209.5,11.4,-3.0,233,2179,0.00,2.50,109.40,0.639,6,0.000,0.040,3455,2211,2323
$GC,2246,2.66,320.1,8.0,-1.8,267,2353,0.00,2.62,99.68,0.620,4,0.000,0.054,3455,804,1872
$GC,2393,2.73,371.9,4.3,4.5,294,2401,0.00,2.53,2.67,0.281,2,0.000,0.040,3455,2218,1864
$STATE,2401,end climb,SURFACE_DEPTH_REACHED
$STATE,2401,begin surface coast
$FINISH,1.3,1.016891
$STATE,2497,end surface coast,CONTROL_FINISHED_OK
$STATE,2497,begin surface
$SM_CCo,2521,122.82,0.611,0,0,1139,500.17
$SM_GC,1.10,0.00,0.00,122.82,0.000,0.000,0.611,135,1988,1139,-13.11,-0.34,500.17
$IRIDIUM_FIX,4751.72,-12223.57,040798,141450
$TT8_MAMPS,0.026845
$HUMID,1714
$INTERNAL_PRESSURE,10.7035
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,33.303
$10V_AH,10.1,11.070
$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,34.875,31.750,409.150,122.825,0.000,25.211,28.472,71.543,0.000,0.000,0.000,16.164,458.968,1102.859,537.158,594.220,176.824,33.329,900.127,0.000,565.813,0.000,14.641,0.000
$DEVICE_MAMPS,195.585,74.399,684.164,611.299,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,204.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9574,312
$CAP_FILE_SIZE,36301,0
$CFSIZE,260034560,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,154538,4807.913,-12222.908,13,1.6,13,18.3