version: 66.04
glider: 117
mission: 17
dive: 22
start: 3 12 109 12 46 44
data:
$ID,117
$MISSION,17
$DIVE,22
$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,-102679.37
$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,16
$R_STBD_OVSHOOT,28
$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
$GPS1,123702,4808.056,-12224.901,10,2.0,10,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.1
$GPS2,124550,4808.040,-12224.888,17,1.3,17,18.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.257,-0.045
$KALMAN_X,1002.7,134.3,100.6,-3592.7,-32.5
$KALMAN_Y,-1304.3,-195.4,25.6,1931.7,67.1
$MHEAD_RNG_PITCHd_Wd,81.5,2358,-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,15,-1.58,-146.6,0.0,0.0,0,112,0.00,0.00,-91.38,0.000,2,0.000,0.000,410,1984,3849
$GC,115,-1.58,-146.6,3.6,-5.5,14,137,12.62,2.72,-1.62,0.000,4,0.183,0.086,2501,557,3925
$GC,226,-1.58,-146.6,21.6,-11.5,32,233,0.00,2.55,0.00,0.000,6,0.000,0.045,2500,1979,3926
$GC,423,-1.58,-146.6,42.6,-10.6,51,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1979,3925
$GC,614,-1.58,-146.6,63.1,-10.3,69,619,0.00,2.60,0.00,0.000,4,0.000,0.066,2500,3378,3925
$GC,625,-1.58,-146.6,64.4,-10.5,69,633,0.00,2.53,0.00,0.000,6,0.000,0.048,2501,1970,3925
$STATE,875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,875,begin apogee
$GC,881,-0.38,0.0,90.4,10.3,93,1004,1.33,0.00,116.53,0.713,6,0.105,0.000,2759,1594,3324
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1007,1.58,146.6,94.8,0.0,105,1137,2.05,2.72,115.38,0.679,4,0.072,0.082,3192,191,2724
$GC,1185,1.61,170.0,84.0,8.9,120,1210,0.00,2.53,19.48,0.640,6,0.000,0.046,3192,1600,2631
$GC,1527,1.63,185.6,53.1,9.3,152,1551,0.00,2.80,13.68,0.629,4,0.000,0.082,3192,191,2567
$GC,1613,1.63,185.6,44.6,10.0,159,1621,0.00,2.53,0.00,0.000,6,0.000,0.048,3192,1606,2566
$GC,1811,1.67,218.8,27.5,8.5,178,1847,0.00,2.80,28.12,0.640,4,0.000,0.084,3192,184,2432
$GC,1910,1.68,227.5,18.4,9.6,188,1926,0.10,2.53,8.55,0.575,6,0.057,0.048,3222,1597,2396
$GC,1994,1.70,239.6,10.4,9.4,202,2008,0.00,0.00,11.07,0.594,6,0.000,0.000,3222,1597,2347
$GC,2076,1.72,261.9,2.5,9.0,216,2091,0.00,0.00,12.95,0.601,2,0.000,0.000,3222,1598,2282
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,0.2,1.001120
$STATE,2120,end surface coast,CONTROL_FINISHED_OK
$STATE,2120,begin surface
$SM_CCo,2145,61.95,0.620,0,0,1794,375.06
$SM_GC,1.00,0.00,0.00,61.95,0.000,0.000,0.620,409,1985,1794,-11.23,0.28,375.06
$IRIDIUM_FIX,4751.72,-12219.12,060698,121223
$TT8_MAMPS,0.103545
$HUMID,1604
$INTERNAL_PRESSURE,6.90456
$TCM_TEMP,19.60
$XPDR_PINGS,-1
$24V_AH,23.7,28.123
$10V_AH,10.0,12.715
$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,29.025,27.700,325.750,61.950,0.000,101.077,37.656,192.965,0.000,0.000,112.804,18.559,444.691,952.255,453.007,422.915,482.565,33.329,733.861,0.000,391.139,0.000,5.707,0.000
$DEVICE_MAMPS,183.313,85.904,713.310,619.736,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,161.341,0.000,0.000,0.000,0.000,0.000,38.137,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6444,223
$CAP_FILE_SIZE,60471,0
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,132436,4807.967,-12224.470,11,1.4,27,18.3