version: 66.04
glider: 117
mission: 17
dive: 38
start: 3 13 109 1 38 26
data:
$ID,117
$MISSION,17
$DIVE,38
$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,-103033.11
$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,24
$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
$GPS1,012825,4807.914,-12223.690,8,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.1
$GPS2,013732,4807.875,-12223.678,16,1.9,16,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.243,0.094
$KALMAN_X,961.5,20.7,59.7,-1904.0,-208.5
$KALMAN_Y,-1800.8,86.5,69.8,1800.1,-116.7
$MHEAD_RNG_PITCHd_Wd,50.6,892,-18.2,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.58,-146.6,0.0,0.0,0,101,0.00,0.00,-79.28,0.000,2,0.000,0.000,409,1975,3763
$GC,104,-1.58,-146.6,3.1,-4.0,12,128,12.65,2.70,-3.65,0.000,4,0.182,0.084,2517,556,3924
$GC,268,-1.58,-146.6,25.0,-10.8,36,272,0.00,2.55,0.00,0.000,6,0.000,0.046,2517,1984,3925
$GC,465,-1.58,-146.6,45.6,-10.4,54,469,0.00,2.60,0.00,0.000,4,0.000,0.067,2517,3377,3925
$GC,531,-1.58,-146.6,52.7,-10.3,59,539,0.00,2.53,0.00,0.000,6,0.000,0.048,2517,1972,3925
$GC,858,-1.58,-146.6,85.6,-9.8,90,862,0.00,2.65,0.00,0.000,4,0.000,0.072,2517,563,3925
$GC,920,-1.58,-146.6,92.3,-10.9,95,924,0.00,2.53,0.00,0.000,6,0.000,0.044,2517,1986,3924
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1059,-0.38,0.0,105.5,9.2,107,1188,1.33,0.00,116.95,0.714,6,0.110,0.000,2774,1544,3323
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,1.58,146.6,109.5,0.0,120,1317,2.05,2.75,115.05,0.693,4,0.071,0.082,3211,161,2725
$GC,1373,1.58,146.6,96.7,10.2,135,1381,0.00,2.50,0.00,0.000,6,0.000,0.046,3211,1557,2723
$GC,1700,1.61,172.0,68.1,8.8,166,1727,0.00,2.78,21.02,0.675,4,0.000,0.081,3211,159,2621
$GC,1784,1.61,172.0,59.6,10.7,173,1791,0.00,2.50,0.00,0.000,6,0.000,0.047,3211,1558,2619
$GC,2111,1.65,198.6,30.0,8.8,204,2138,0.00,2.75,22.42,0.642,4,0.000,0.081,3211,159,2514
$GC,2201,1.65,198.6,21.2,10.0,212,2206,0.00,2.50,0.00,0.000,6,0.000,0.047,3211,1560,2512
$GC,2409,1.70,242.8,2.6,8.0,247,2424,0.10,0.00,12.82,0.608,2,0.058,0.000,3241,1561,2449
$STATE,2425,end climb,SURFACE_DEPTH_REACHED
$STATE,2425,begin surface coast
$FINISH,0.2,1.011444
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2483,56.28,0.624,0,0,1999,325.02
$SM_GC,1.14,0.00,0.00,56.28,0.000,0.000,0.624,407,1990,1999,-11.31,0.42,325.02
$IRIDIUM_FIX,4748.51,-12226.29,070698,000004
$TT8_MAMPS,0.104312
$HUMID,1606
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.40
$XPDR_PINGS,-1
$24V_AH,23.7,29.928
$10V_AH,10.0,13.238
$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,29.100,32.925,288.275,56.275,0.000,101.027,28.130,214.475,0.000,0.000,179.631,16.940,527.042,1152.637,403.649,495.156,527.489,33.363,710.802,0.000,460.245,0.000,5.708,0.000
$DEVICE_MAMPS,181.779,84.370,714.077,624.338,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,183.327,0.000,0.000,0.000,0.000,0.000,38.120,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6439,254
$CAP_FILE_SIZE,73102,0
$CFSIZE,260165632,256692224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,022210,4807.918,-12223.243,38,1.8,46,18.3