version: 66.04
glider: 117
mission: 17
dive: 13
start: 3 12 109 5 36 45
data:
$ID,117
$MISSION,17
$DIVE,13
$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,-102500.87
$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,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,29
$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
$GPS1,052658,4807.604,-12223.737,10,4.2,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.6
$GPS2,053552,4807.560,-12223.768,14,4.6,33,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.143,0.218
$KALMAN_X,393.5,138.7,-63.3,-1443.2,18.9
$KALMAN_Y,-1002.4,-248.4,-57.7,880.5,-162.9
$MHEAD_RNG_PITCHd_Wd,14.9,1269,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-78.25,0.000,2,0.000,0.000,410,1987,3525
$GC,100,-1.58,-146.6,3.1,-4.8,12,130,12.75,2.72,-9.70,0.000,4,0.189,0.090,2499,564,3924
$GC,186,-1.58,-146.6,15.2,-11.6,26,194,0.00,2.53,0.00,0.000,6,0.000,0.047,2499,1974,3925
$GC,267,-1.58,-146.6,24.2,-11.3,37,271,0.00,2.62,0.00,0.000,4,0.000,0.068,2499,3383,3925
$GC,434,-1.58,-146.6,43.6,-11.0,51,441,0.00,2.55,0.00,0.000,6,0.000,0.048,2499,1975,3925
$GC,632,-1.58,-146.6,64.8,-10.7,70,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1975,3925
$STATE,863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,863,begin apogee
$GC,869,-0.38,0.0,90.2,10.6,92,992,1.35,0.00,116.00,0.706,6,0.110,0.000,2762,1631,3323
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,993,begin climb
$GC,995,1.58,146.6,94.3,0.0,104,1126,2.03,2.83,115.07,0.674,4,0.073,0.084,3190,219,2725
$GC,1138,1.63,183.9,86.1,8.3,116,1175,0.00,2.55,30.73,0.646,6,0.000,0.048,3190,1637,2574
$GC,1492,1.65,205.2,55.3,9.0,149,1517,0.00,2.78,18.15,0.634,4,0.000,0.084,3190,222,2486
$GC,1600,1.65,205.2,44.6,10.1,158,1608,0.00,2.53,0.00,0.000,6,0.000,0.048,3190,1632,2484
$GC,1799,1.69,235.9,27.2,8.6,177,1835,0.12,2.80,25.45,0.640,4,0.049,0.084,3227,226,2361
$GC,1875,1.69,235.9,19.4,10.6,183,1882,0.00,2.53,0.00,0.000,6,0.000,0.048,3227,1631,2360
$STATE,2066,end climb,SURFACE_DEPTH_REACHED
$STATE,2066,begin surface coast
$FINISH,0.4,1.022537
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2115,75.40,0.625,0,0,1795,375.06
$SM_GC,1.15,0.00,0.00,75.40,0.000,0.000,0.625,408,1979,1795,-11.23,0.08,375.06
$IRIDIUM_FIX,4748.51,-12226.29,060698,040457
$TT8_MAMPS,0.090506
$HUMID,1606
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,27.034
$10V_AH,10.0,12.418
$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,29.025,27.700,305.400,75.400,0.000,100.405,24.824,201.176,0.000,0.000,111.104,34.458,446.847,935.241,448.231,455.412,457.890,33.320,726.589,0.000,407.185,0.000,7.212,0.000
$DEVICE_MAMPS,188.682,89.739,705.640,625.105,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,159.459,0.000,0.000,0.000,0.000,0.000,38.404,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6461,221
$CAP_FILE_SIZE,54777,0
$CFSIZE,260165632,257945600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,061440,4807.653,-12223.423,38,1.6,47,18.3