version: 66.04
glider: 116
mission: 17
dive: 54
start: 4 10 109 15 51 0
data:
$ID,116
$MISSION,17
$DIVE,54
$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,45
$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,-54987.625
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,154646,4807.983,-12222.979,12,3.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-68.1
$GPS2,154956,4807.972,-12222.984,16,2.0,16,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,0.091
$KALMAN_X,1076.0,104.8,-65.9,-597.4,2.4
$KALMAN_Y,-813.6,-80.6,75.2,1478.4,3.8
$MHEAD_RNG_PITCHd_Wd,317.3,55,-43.1,-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,-3.63,-26.3,0.0,0.0,0,96,0.00,0.00,-79.22,0.000,2,0.000,0.000,133,1996,2797
$GC,98,-3.64,-35.5,3.7,-7.7,15,132,13.12,2.60,-14.45,0.000,4,0.205,0.070,2187,3406,3323
$GC,340,-3.64,-35.5,26.1,-10.6,53,344,0.00,2.50,0.00,0.000,6,0.000,0.038,2187,1988,3324
$GC,536,-3.64,-35.5,48.6,-11.5,71,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1988,3324
$GC,727,-3.64,-35.5,72.1,-11.9,89,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1988,3324
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,885,-0.42,0.0,90.3,11.9,103,934,3.88,0.00,43.05,0.665,6,0.146,0.000,2890,2262,3178
$STATE,935,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,937,3.64,35.5,92.9,0.0,108,990,2.58,2.65,43.10,0.650,4,0.058,0.054,3455,840,3033
$GC,1051,3.65,48.7,87.0,6.6,118,1073,0.00,2.53,16.85,0.621,6,0.000,0.040,3455,2254,2979
$GC,1391,3.66,57.3,61.6,7.8,150,1412,0.00,2.70,11.65,0.609,4,0.000,0.070,3455,3649,2944
$GC,1536,3.68,66.5,49.6,7.7,163,1558,0.00,2.47,12.43,0.610,6,0.000,0.038,3455,2243,2906
$GC,1748,3.68,73.4,31.4,8.2,183,1762,0.00,2.67,9.62,0.593,4,0.000,0.066,3455,3655,2878
$GC,1789,3.69,77.4,27.6,9.0,186,1801,0.00,2.47,6.12,0.529,6,0.000,0.038,3455,2252,2862
$GC,1998,3.71,93.6,11.9,5.9,215,2020,0.00,0.00,16.42,0.614,6,0.000,0.000,3455,2252,2796
$GC,2087,3.74,117.4,7.9,3.9,231,2115,0.00,2.60,22.25,0.614,4,0.000,0.054,3455,846,2699
$GC,2166,3.77,139.8,4.3,4.3,245,2193,0.00,2.50,19.62,0.604,6,0.000,0.039,3455,2253,2606
$STATE,2214,end climb,SURFACE_DEPTH_REACHED
$STATE,2214,begin surface coast
$FINISH,3.7,1.021050
$STATE,2361,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2361,begin surface
$SM_CCo,2385,241.52,0.607,0,0,1139,500.17
$SM_GC,1.08,0.00,0.00,241.52,0.000,0.000,0.607,132,1983,1139,-13.12,-0.48,500.17
$IRIDIUM_FIX,4751.72,-12228.02,050798,151555
$TT8_MAMPS,0.026845
$HUMID,1703
$INTERNAL_PRESSURE,10.684
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,36.730
$10V_AH,10.1,11.740
$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,35.400,26.675,201.125,241.525,0.000,27.540,25.070,66.681,0.000,0.000,0.000,16.758,454.490,1200.028,524.447,502.496,168.240,33.321,823.392,0.000,478.801,0.000,14.656,0.000
$DEVICE_MAMPS,204.789,69.797,664.989,607.464,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,186.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6443,280
$CAP_FILE_SIZE,35981,0
$CFSIZE,260034560,256495616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,163552,4808.108,-12223.051,10,4.8,29,18.3