version: 66.04
glider: 117
mission: 17
dive: 9
start: 3 12 109 2 27 27
data:
$ID,117
$MISSION,17
$DIVE,9
$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,-102375.69
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,23
$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
$GPS1,021758,4808.075,-12224.963,8,2.4,27,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.6
$GPS2,022634,4808.036,-12224.950,11,2.2,30,18.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.256,-0.049
$KALMAN_X,404.7,216.4,32.5,-3089.4,6.3
$KALMAN_Y,-14.2,-76.2,27.3,513.3,75.3
$MHEAD_RNG_PITCHd_Wd,82.4,2436,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-78.65,0.000,2,0.000,0.000,409,1979,3569
$GC,102,-1.58,-146.6,3.1,-3.2,12,132,12.70,2.65,-8.90,0.000,4,0.186,0.087,2501,561,3922
$GC,293,-1.58,-146.6,26.2,-11.8,40,301,0.00,2.55,0.00,0.000,6,0.000,0.047,2501,1983,3922
$GC,491,-1.58,-146.6,47.3,-10.7,59,495,0.00,2.62,0.00,0.000,4,0.000,0.069,2501,3386,3924
$GC,569,-1.58,-146.6,55.9,-11.0,65,576,0.00,2.55,0.00,0.000,6,0.000,0.048,2501,1967,3923
$GC,895,-1.58,-146.6,89.9,-10.4,96,899,0.00,2.22,0.00,0.000,3,0.000,0.061,2501,3179,3923
$STATE,900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,900,begin apogee
$GC,908,-0.38,0.0,90.6,10.5,96,1030,1.33,0.00,115.80,0.713,6,0.110,0.000,2758,1702,3324
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1034,1.58,146.6,95.3,0.0,108,1165,2.08,2.80,115.72,0.678,4,0.073,0.081,3194,290,2724
$GC,1178,1.62,179.8,87.2,8.5,120,1214,0.00,2.55,27.52,0.655,6,0.000,0.047,3194,1704,2590
$GC,1531,1.65,198.6,55.5,9.1,153,1556,0.00,2.78,15.98,0.654,4,0.000,0.082,3194,289,2514
$GC,1568,1.67,222.3,52.3,8.9,156,1596,0.00,2.55,20.62,0.653,6,0.000,0.048,3194,1702,2416
$GC,1922,1.70,246.9,19.7,8.9,189,1951,0.12,2.70,20.73,0.643,4,0.051,0.081,3229,291,2315
$STATE,2095,end climb,SURFACE_DEPTH_REACHED
$STATE,2095,begin surface coast
$FINISH,0.3,1.011090
$STATE,2124,end surface coast,CONTROL_FINISHED_OK
$STATE,2124,begin surface
$SM_CCo,2150,73.12,0.632,0,0,1794,375.06
$SM_GC,1.13,0.00,0.00,73.12,0.000,0.000,0.632,411,1981,1794,-11.22,0.17,375.06
$IRIDIUM_FIX,4751.72,-12226.29,060698,010131
$TT8_MAMPS,0.071331
$HUMID,1594
$INTERNAL_PRESSURE,6.90456
$TCM_TEMP,19.40
$XPDR_PINGS,-1
$24V_AH,23.7,26.550
$10V_AH,10.0,12.287
$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,29.125,31.800,316.375,73.125,0.000,103.115,26.558,183.040,0.000,0.000,115.006,31.528,447.628,979.349,455.359,436.818,440.616,33.326,728.655,0.000,393.314,0.000,7.239,0.000
$DEVICE_MAMPS,186.381,86.671,712.543,632.008,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,162.141,0.000,0.000,0.000,0.000,0.000,35.313,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6430,224
$CAP_FILE_SIZE,53815,0
$CFSIZE,260165632,258134016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,030536,4807.864,-12224.769,11,1.8,27,18.3