version: 66.04
glider: 117
mission: 17
dive: 15
start: 3 12 109 7 11 39
data:
$ID,117
$MISSION,17
$DIVE,15
$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,-102549.17
$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,1595
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$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
$GPS1,070150,4807.775,-12223.168,10,1.5,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.4
$GPS2,071046,4807.737,-12223.168,14,2.6,33,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.060,0.254
$KALMAN_X,617.4,138.5,-30.3,-956.6,62.3
$KALMAN_Y,-1315.3,-311.7,-140.5,1667.2,-100.4
$MHEAD_RNG_PITCHd_Wd,355.1,540,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-85.25,0.000,2,0.000,0.000,406,1977,3698
$GC,109,-1.58,-146.6,3.5,-6.4,13,132,12.68,2.67,-4.85,0.000,4,0.186,0.079,2499,3370,3926
$GC,286,-1.58,-146.6,29.0,-12.2,37,290,0.00,2.53,0.00,0.000,6,0.000,0.050,2499,1973,3927
$GC,483,-1.58,-146.6,51.4,-10.9,55,487,0.00,2.62,0.00,0.000,4,0.000,0.066,2499,3378,3926
$GC,560,-1.58,-146.6,60.1,-11.2,61,568,0.00,2.55,0.00,0.000,6,0.000,0.048,2498,1970,3927
$STATE,844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,850,-0.38,0.0,90.3,10.4,88,972,1.35,0.00,115.90,0.715,6,0.110,0.000,2761,1599,3323
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,976,1.58,146.6,94.9,0.0,100,1102,2.03,0.00,114.55,0.693,6,0.072,0.000,3191,1599,2725
$GC,1419,1.64,195.0,63.7,7.8,142,1466,0.00,2.78,39.17,0.671,4,0.000,0.086,3191,190,2528
$GC,1490,1.67,215.6,57.9,9.1,148,1515,0.00,2.53,18.08,0.637,6,0.000,0.048,3191,1594,2444
$GC,1832,1.71,252.9,28.3,8.3,180,1869,0.15,2.78,30.70,0.635,4,0.047,0.087,3233,184,2291
$GC,1943,1.71,252.9,16.6,11.3,192,1950,0.00,2.55,0.00,0.000,6,0.000,0.049,3232,1606,2288
$GC,2019,1.71,252.9,8.7,10.5,205,2027,0.00,2.75,0.00,0.000,4,0.000,0.087,3232,189,2288
$GC,2033,1.71,252.9,7.2,10.1,207,2040,0.00,2.53,0.00,0.000,6,0.000,0.049,3233,1596,2288
$STATE,2091,end climb,SURFACE_DEPTH_REACHED
$STATE,2091,begin surface coast
$FINISH,0.4,1.002308
$STATE,2113,end surface coast,CONTROL_FINISHED_OK
$STATE,2113,begin surface
$SM_CCo,2139,66.30,0.621,0,0,1795,375.06
$SM_GC,1.14,0.00,0.00,66.30,0.000,0.000,0.621,409,1980,1795,-11.23,0.17,375.06
$IRIDIUM_FIX,4748.51,-12221.84,060698,060635
$TT8_MAMPS,0.108147
$HUMID,1603
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,27.278
$10V_AH,10.0,12.483
$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,29.000,27.675,318.400,66.300,0.000,93.509,26.684,204.625,0.000,0.000,112.640,35.658,440.218,966.633,456.236,432.360,465.509,33.324,721.494,0.000,384.819,0.000,5.704,0.000
$DEVICE_MAMPS,185.614,86.671,714.844,620.503,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,159.439,0.000,0.000,0.000,0.000,0.000,35.566,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6451,221
$CAP_FILE_SIZE,55619,0
$CFSIZE,260165632,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,074934,4807.957,-12222.954,12,3.6,31,18.3