version: 66.04
glider: 117
mission: 17
dive: 24
start: 3 12 109 14 22 25
data:
$ID,117
$MISSION,17
$DIVE,24
$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,-102709.7
$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,17
$R_STBD_OVSHOOT,32
$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
$GPS1,141237,4807.890,-12224.115,25,1.9,25,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-62.7
$GPS2,142132,4807.865,-12224.103,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.256,0.047
$KALMAN_X,1088.8,116.2,56.3,-2647.1,-23.4
$KALMAN_Y,-1527.9,-155.2,63.3,1759.4,-6.6
$MHEAD_RNG_PITCHd_Wd,61.4,1409,-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,-90.53,0.000,2,0.000,0.000,409,1982,3766
$GC,116,-1.58,-146.6,3.0,-3.1,14,139,12.57,2.70,-3.85,0.000,4,0.182,0.087,2501,561,3924
$GC,339,-1.58,-146.6,31.6,-10.9,44,347,0.00,2.53,0.00,0.000,6,0.000,0.045,2501,1976,3924
$GC,538,-1.58,-146.6,51.6,-9.8,63,542,0.00,2.60,0.00,0.000,4,0.000,0.067,2500,3375,3924
$GC,623,-1.58,-146.6,60.5,-10.6,70,628,0.00,2.53,0.00,0.000,6,0.000,0.047,2503,1967,3924
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,911,-0.38,0.0,90.3,10.5,96,1034,1.33,0.00,116.30,0.712,6,0.110,0.000,2758,1592,3323
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1037,1.58,146.6,94.6,0.0,108,1163,2.05,0.00,115.75,0.676,6,0.074,0.000,3193,1591,2725
$GC,1479,1.63,189.8,62.9,8.0,149,1519,0.00,2.75,35.40,0.655,4,0.000,0.083,3192,187,2549
$GC,1560,1.64,198.1,55.7,9.6,155,1578,0.00,2.53,8.12,0.575,6,0.000,0.048,3193,1599,2514
$GC,1896,1.69,234.6,25.5,8.3,187,1934,0.12,2.78,30.60,0.640,4,0.051,0.082,3227,183,2366
$GC,2002,1.69,234.6,14.7,10.3,200,2009,0.00,2.53,0.00,0.000,6,0.000,0.048,3227,1596,2362
$GC,2077,1.73,271.1,7.9,8.3,213,2118,0.00,2.65,30.58,0.627,4,0.000,0.057,3227,2995,2216
$GC,2137,1.76,291.3,2.5,9.1,222,2146,0.00,2.58,3.95,0.425,2,0.000,0.053,3226,1596,2198
$STATE,2147,end climb,SURFACE_DEPTH_REACHED
$STATE,2147,begin surface coast
$FINISH,0.3,1.010942
$STATE,2169,end surface coast,CONTROL_FINISHED_OK
$STATE,2169,begin surface
$SM_CCo,2194,52.88,0.619,0,0,1795,375.06
$SM_GC,1.00,0.00,0.00,52.88,0.000,0.000,0.619,410,1981,1795,-11.22,0.17,375.06
$IRIDIUM_FIX,4751.72,-12230.75,060698,131354
$TT8_MAMPS,0.093574
$HUMID,1613
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.6,28.368
$10V_AH,10.0,12.783
$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,28.925,27.550,340.700,52.875,0.000,96.526,25.855,216.465,0.000,0.000,112.691,14.236,447.329,974.791,455.144,432.848,491.240,33.324,737.752,0.000,403.260,0.000,5.702,0.000
$DEVICE_MAMPS,181.779,86.671,711.776,618.969,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,164.287,0.000,0.000,0.000,0.000,0.000,39.830,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6438,227
$CAP_FILE_SIZE,59755,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,150058,4807.891,-12223.703,7,2.7,26,18.3