version: 66.04
glider: 117
mission: 17
dive: 37
start: 3 13 109 0 46 19
data:
$ID,117
$MISSION,17
$DIVE,37
$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,-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,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,-103015.54
$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,16
$R_STBD_OVSHOOT,30
$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
$GPS1,003326,4807.930,-12224.115,11,2.0,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.6
$GPS2,004525,4807.895,-12224.107,16,2.0,33,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.252,0.068
$KALMAN_X,1004.7,-0.5,36.9,-2421.6,-223.8
$KALMAN_Y,-1628.4,82.1,78.7,1660.1,-98.6
$MHEAD_RNG_PITCHd_Wd,56.6,1406,-18.2,-10.000
$D_GRID,103
$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,-146.6,0.0,0.0,0,100,0.00,0.00,-79.07,0.000,2,0.000,0.000,410,1984,3779
$GC,103,-1.58,-146.6,3.5,-5.9,12,126,12.77,2.70,-3.12,0.000,4,0.183,0.084,2515,564,3924
$GC,233,-1.58,-146.6,22.6,-10.9,32,238,0.00,2.53,0.00,0.000,6,0.000,0.046,2515,1971,3925
$GC,430,-1.58,-146.6,42.6,-10.0,50,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1971,3925
$GC,622,-1.58,-146.6,61.8,-10.0,68,626,0.00,2.65,0.00,0.000,4,0.000,0.071,2515,565,3925
$GC,672,-1.58,-146.6,67.0,-10.5,72,677,0.00,2.53,0.00,0.000,6,0.000,0.045,2514,1983,3925
$GC,998,-1.58,-146.6,98.9,-9.8,102,1002,0.00,2.60,0.00,0.000,4,0.000,0.067,2515,3383,3925
$STATE,1039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1039,begin apogee
$GC,1047,-0.38,0.0,103.5,10.1,105,1174,1.33,0.00,116.93,0.723,6,0.108,0.000,2774,1551,3323
$STATE,1175,end apogee,CONTROL_FINISHED_OK
$STATE,1175,begin climb
$GC,1178,1.58,146.6,107.3,0.0,118,1308,2.05,2.72,115.65,0.687,4,0.070,0.081,3210,151,2725
$GC,1335,1.58,146.6,96.7,10.1,131,1343,0.00,2.53,0.00,0.000,6,0.000,0.046,3210,1558,2724
$GC,1661,1.62,176.8,67.6,8.6,162,1696,0.00,2.80,24.92,0.657,4,0.000,0.081,3210,154,2601
$GC,1724,1.63,183.3,61.6,9.7,167,1736,0.00,2.50,6.90,0.565,6,0.000,0.047,3210,1553,2576
$GC,2057,1.64,198.0,30.8,9.3,198,2079,0.00,2.72,13.38,0.626,4,0.000,0.082,3210,155,2515
$GC,2175,1.64,198.0,19.1,10.3,209,2182,0.00,2.50,0.00,0.000,6,0.000,0.047,3210,1557,2514
$GC,2252,1.67,216.9,12.1,9.1,222,2274,0.00,2.80,16.73,0.624,4,0.000,0.081,3210,154,2438
$GC,2281,1.70,245.9,9.4,8.7,226,2316,0.12,2.50,25.15,0.622,6,0.054,0.048,3243,1549,2319
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,0.3,1.010431
$STATE,2394,end surface coast,CONTROL_FINISHED_OK
$STATE,2394,begin surface
$SM_CCo,2428,46.47,0.621,0,0,1999,325.02
$SM_GC,1.19,0.00,0.00,46.47,0.000,0.000,0.621,409,1975,1999,-11.30,0.00,325.02
$IRIDIUM_FIX,4748.51,-12221.84,070698,000059
$TT8_MAMPS,0.108147
$HUMID,1605
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.5,29.794
$10V_AH,10.0,13.203
$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,29.250,38.225,319.650,46.475,0.000,126.223,59.389,265.824,0.000,0.000,26.504,33.091,496.263,1181.601,430.522,480.868,629.215,33.324,734.120,0.000,435.690,0.000,5.695,0.000
$DEVICE_MAMPS,182.546,84.370,722.514,621.270,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,177.359,0.000,0.000,0.000,0.000,0.000,11.016,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6465,245
$CAP_FILE_SIZE,71592,0
$CFSIZE,260165632,256753664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,012825,4807.914,-12223.690,8,1.8,13,18.3