version: 66.04
glider: 117
mission: 17
dive: 34
start: 3 12 109 22 40 15
data:
$ID,117
$MISSION,17
$DIVE,34
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$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,35
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$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,325
$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,-102954.52
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2865
$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,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,222928,4808.057,-12225.014,10,3.6,29,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.8
$GPS2,223922,4808.057,-12224.965,13,3.0,32,18.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.254,-0.057
$KALMAN_X,1363.3,39.0,29.5,-3884.0,31.6
$KALMAN_Y,-1427.2,36.1,34.1,1845.1,88.6
$MHEAD_RNG_PITCHd_Wd,84.3,2455,-18.2,-10.000
$D_GRID,96
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-65.22,0.000,2,0.000,0.000,408,1977,3489
$GC,90,-1.58,-146.6,3.0,-3.0,10,120,12.68,2.67,-11.10,0.000,4,0.183,0.081,2515,556,3924
$GC,232,-1.58,-146.6,19.7,-10.7,34,240,0.00,2.55,0.00,0.000,6,0.000,0.046,2515,1982,3925
$GC,302,-1.58,-146.6,27.0,-10.7,41,307,0.00,2.60,0.00,0.000,4,0.000,0.068,2515,3377,3925
$GC,320,-1.58,-146.6,28.8,-10.2,42,324,0.00,2.53,0.00,0.000,6,0.000,0.048,2515,1972,3925
$GC,517,-1.58,-146.6,49.5,-10.4,60,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1972,3925
$GC,708,-1.58,-146.6,68.9,-9.9,78,713,0.00,2.62,0.00,0.000,4,0.000,0.066,2515,3382,3925
$GC,787,-1.58,-146.6,77.1,-10.3,84,794,0.00,2.53,0.00,0.000,6,0.000,0.047,2515,1972,3925
$STATE,982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,982,begin apogee
$GC,989,-0.62,0.0,96.1,9.5,103,1110,1.10,0.00,116.32,0.715,6,0.112,0.000,2727,1542,3323
$STATE,1111,end apogee,CONTROL_FINISHED_OK
$STATE,1111,begin climb
$GC,1113,1.58,146.6,100.7,0.0,115,1236,2.33,0.00,115.72,0.680,6,0.077,0.000,3210,1542,2726
$GC,1554,1.62,176.2,66.4,8.6,157,1583,0.00,2.70,24.40,0.652,4,0.000,0.082,3210,151,2605
$GC,1634,1.62,176.2,58.6,10.6,163,1642,0.00,2.53,0.00,0.000,6,0.000,0.047,3210,1556,2603
$GC,1959,1.65,199.5,29.0,8.9,194,1985,0.00,2.78,20.27,0.637,4,0.000,0.081,3210,161,2508
$GC,2024,1.65,200.3,22.7,10.0,199,2031,0.00,2.50,0.00,0.000,6,0.000,0.048,3210,1551,2507
$GC,2232,1.73,265.7,4.8,7.0,233,2274,0.15,0.00,39.05,0.628,2,0.048,0.000,3249,1551,2302
$STATE,2275,end climb,SURFACE_DEPTH_REACHED
$STATE,2275,begin surface coast
$FINISH,0.3,1.017758
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2303,begin surface
$SM_CCo,2326,40.08,0.621,0,0,1999,325.02
$SM_GC,1.92,0.00,0.00,40.08,0.000,0.000,0.621,407,1977,1999,-11.31,0.06,325.02
$IRIDIUM_FIX,4751.72,-12226.29,060698,212110
$TT8_MAMPS,0.102778
$HUMID,1624
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.60
$XPDR_PINGS,-1
$24V_AH,23.7,29.535
$10V_AH,10.0,13.122
$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,29.400,27.575,315.775,40.075,0.000,98.510,31.893,232.043,0.000,0.000,104.018,33.553,492.797,1075.112,409.920,455.512,546.046,33.331,687.488,0.000,408.198,0.000,5.703,0.000
$DEVICE_MAMPS,183.313,82.069,714.844,620.503,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,176.198,0.000,0.000,0.000,0.000,0.000,37.776,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6443,244
$CAP_FILE_SIZE,68400,0
$CFSIZE,260165632,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,232120,4807.992,-12224.579,40,2.2,59,18.3