version: 66.04
glider: 116
mission: 17
dive: 26
start: 4 9 109 16 41 6
data:
$ID,116
$MISSION,17
$DIVE,26
$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,-54356.523
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,163628,4807.937,-12223.123,9,5.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.1
$GPS2,164004,4807.958,-12223.177,14,2.9,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,0.134,0.110
$KALMAN_X,1871.4,90.7,-16.6,-1662.8,14.2
$KALMAN_Y,-1627.6,130.2,206.1,1926.9,-91.9
$MHEAD_RNG_PITCHd_Wd,32.2,232,-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,-63.1,0.0,0.0,0,80,0.00,0.00,-63.65,0.000,2,0.000,0.000,132,1984,2780
$GC,82,-2.38,-86.9,3.4,-7.5,12,117,14.40,2.72,-14.70,0.000,4,0.193,0.077,2461,3409,3535
$GC,369,-2.38,-86.9,41.0,-12.8,47,376,0.00,2.53,0.00,0.000,6,0.000,0.041,2461,2006,3536
$GC,566,-2.38,-86.9,65.0,-12.0,66,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2006,3536
$STATE,781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,781,begin apogee
$GC,786,-0.42,0.0,90.5,12.2,86,893,2.20,0.00,102.45,0.676,6,0.119,0.000,2888,2262,3178
$STATE,894,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,895,2.38,86.9,94.3,0.0,97,1010,2.58,2.70,101.62,0.651,4,0.057,0.072,3454,3649,2823
$GC,1044,2.38,86.9,84.3,10.9,111,1048,0.00,2.50,0.00,0.000,6,0.000,0.040,3454,2244,2823
$GC,1369,2.38,86.9,47.8,10.8,141,1373,0.00,2.65,0.00,0.000,4,0.000,0.070,3454,3648,2822
$GC,1487,2.38,86.9,34.5,11.3,151,1491,0.00,2.47,0.00,0.000,6,0.000,0.040,3454,2250,2822
$GC,1686,2.39,100.9,14.4,8.5,174,1703,0.00,0.00,14.38,0.607,6,0.000,0.000,3454,2250,2766
$GC,1771,2.47,165.0,9.6,3.2,189,1834,0.00,0.00,58.62,0.626,6,0.000,0.000,3454,2249,2505
$GC,1901,2.58,247.9,9.2,1.2,213,1986,0.00,2.72,75.50,0.612,4,0.000,0.070,3454,3647,2166
$GC,2239,2.70,347.3,8.2,-0.6,274,2252,0.00,2.47,7.90,0.551,2,0.000,0.041,3454,2248,2135
$STATE,2253,end climb,NO_VERTICAL_VELOCITY
$STATE,2253,begin surface
$SM_CCo,2255,252.75,0.596,0,0,741,598.04
$SM_GC,0.96,15.02,0.00,0.00,0.044,0.000,0.000,132,2001,736,-13.09,0.03,599.02
$IRIDIUM_FIX,4748.51,-12221.84,040798,151521
$TT8_MAMPS,0.026845
$HUMID,1725
$INTERNAL_PRESSURE,10.6547
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,33.517
$10V_AH,10.1,11.115
$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,34.200,21.700,360.475,252.750,0.000,23.043,24.777,80.029,0.000,0.000,0.000,34.253,406.826,1127.542,636.421,521.769,173.478,33.325,952.544,0.000,478.405,0.000,14.649,0.000
$DEVICE_MAMPS,192.517,76.700,676.494,595.959,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,181.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6425,276
$CAP_FILE_SIZE,33065,0
$CFSIZE,260034560,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,172552,4808.070,-12223.042,11,2.7,30,18.3