version: 66.04
glider: 117
mission: 17
dive: 23
start: 3 12 109 13 34 37
data:
$ID,117
$MISSION,17
$DIVE,23
$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,-102694.83
$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,19
$R_STBD_OVSHOOT,33
$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
$GPS1,132436,4807.967,-12224.470,11,1.4,27,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.8
$GPS2,133344,4807.966,-12224.506,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.260,-0.023
$KALMAN_X,1036.9,123.8,79.1,-3123.9,-29.2
$KALMAN_Y,-1377.5,-176.9,46.1,1832.5,55.9
$MHEAD_RNG_PITCHd_Wd,76.8,1886,-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,17,-1.58,-146.6,0.0,0.0,0,113,0.00,0.00,-92.57,0.000,2,0.000,0.000,409,1987,3823
$GC,116,-1.58,-146.6,3.1,-3.2,14,139,12.57,2.67,-2.33,0.000,4,0.182,0.087,2503,574,3923
$GC,326,-1.58,-146.6,31.0,-10.8,42,330,0.00,2.50,0.00,0.000,6,0.000,0.045,2503,1975,3924
$GC,524,-1.58,-146.6,51.5,-10.4,60,528,0.00,2.60,0.00,0.000,4,0.000,0.067,2503,3379,3924
$GC,578,-1.58,-146.6,57.4,-11.1,64,586,0.00,2.53,0.00,0.000,6,0.000,0.047,2503,1973,3924
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,909,-0.38,0.0,90.4,10.2,95,1031,1.33,0.00,116.03,0.719,6,0.107,0.000,2760,1595,3324
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1035,1.58,146.6,94.5,0.0,107,1166,2.05,2.83,115.43,0.682,4,0.072,0.083,3194,182,2724
$GC,1228,1.62,176.8,81.5,8.6,123,1259,0.00,2.55,24.85,0.655,6,0.000,0.047,3194,1604,2602
$GC,1576,1.65,203.9,51.2,8.8,156,1605,0.00,2.78,23.05,0.644,4,0.000,0.083,3194,191,2491
$GC,1644,1.67,221.2,44.9,9.2,161,1664,0.00,2.53,15.25,0.622,6,0.000,0.048,3194,1600,2422
$GC,1855,1.69,232.1,25.7,9.5,181,1872,0.10,2.78,9.98,0.598,4,0.058,0.083,3223,193,2377
$GC,1918,1.69,232.1,18.8,11.3,187,1925,0.00,2.53,0.00,0.000,6,0.000,0.048,3223,1604,2375
$GC,1993,1.69,232.1,11.0,10.7,200,2000,0.00,2.72,0.00,0.000,4,0.000,0.084,3223,191,2374
$GC,2040,1.69,232.1,6.0,10.8,208,2047,0.00,2.53,0.00,0.000,6,0.000,0.048,3223,1606,2375
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,0.3,1.020906
$STATE,2114,end surface coast,CONTROL_FINISHED_OK
$STATE,2114,begin surface
$SM_CCo,2138,78.72,0.626,0,0,1795,375.06
$SM_GC,1.21,0.00,0.00,78.72,0.000,0.000,0.626,408,1981,1795,-11.23,0.17,375.06
$IRIDIUM_FIX,4748.51,-12226.29,060698,121211
$TT8_MAMPS,0.106613
$HUMID,1609
$INTERNAL_PRESSURE,6.90456
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,28.245
$10V_AH,9.9,12.749
$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,28.925,32.900,304.575,78.725,0.000,103.432,41.035,207.881,0.000,0.000,111.551,14.832,452.360,944.029,453.276,435.393,498.913,33.331,737.379,0.000,405.147,0.000,5.704,0.000
$DEVICE_MAMPS,181.779,87.438,718.679,625.872,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,160.028,0.000,0.000,0.000,0.000,0.000,38.750,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6425,221
$CAP_FILE_SIZE,59916,0
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,141237,4807.890,-12224.115,25,1.9,25,18.3