version: 66.07
glider: 179
mission: 4
dive: 23
start: 5 14 110 12 49 40
data:
$ID,179
$MISSION,4
$DIVE,23
$D_SURF,7
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51304
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,585
$N_FILEKB,8
$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,-11294.371
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3155
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3453
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.652786
$PRESSURE_SLOPE,0.0001164844
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,140510,124502,4807.410,-12223.549,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-80.5
$GPS2,140510,124858,4807.395,-12223.534,11,2.2,30,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,0.218
$KALMAN_X,385.6,80.6,-1.6,-2076.8,8.8
$KALMAN_Y,-1765.4,-282.5,-97.7,4471.7,-133.1
$MHEAD_RNG_PITCHd_Wd,3.3,1302,-19.7,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.69,-117.3,0.0,0.0,0,99,0.00,0.00,-85.20,0.000,2,0.000,0.000,147,2146,3363,0,0,0,0,0,0
$GC,100,-0.69,-117.3,3.3,-4.5,15,135,13.62,2.47,-14.77,0.000,4,0.291,0.056,2922,565,3934,0,0,0,0,0,0
$GC,277,-0.69,-117.3,25.5,-13.9,44,286,0.00,2.53,0.00,0.000,6,0.000,0.044,2911,2151,3935,0,0,0,0,0,0
$GC,469,-0.69,-117.3,55.8,-16.1,63,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2151,3935,0,0,0,0,0,0
$STATE,769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,769,begin apogee
$GC,771,-0.14,0.0,103.3,15.6,92,863,0.70,0.00,89.68,0.565,6,0.181,0.000,3106,2151,3453,0,0,0,0,0,0
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,864,begin climb
$GC,865,0.69,117.3,106.9,0.0,101,962,0.82,2.62,89.70,0.549,4,0.109,0.041,3383,567,2973,0,0,0,0,0,0
$GC,1051,0.69,117.3,96.7,10.3,118,1059,0.00,2.58,0.00,0.000,6,0.000,0.041,3383,2158,2972,0,0,0,0,0,0
$GC,1367,0.70,122.4,65.3,9.7,149,1380,0.00,2.45,5.28,0.431,4,0.000,0.052,3383,3672,2953,0,0,0,0,0,0
$GC,1554,0.70,122.4,44.4,11.0,166,1562,0.00,2.38,0.00,0.000,6,0.000,0.034,3394,2147,2952,0,0,0,0,0,0
$GC,1745,0.72,138.8,25.9,9.1,185,1760,0.00,0.00,13.52,0.503,6,0.000,0.000,3395,2147,2887,0,0,0,0,0,0
$STATE,1945,end climb,SURFACE_DEPTH_REACHED
$STATE,1945,begin surface coast
$FINISH,4.2,1.020971
$STATE,2047,end surface coast,CONTROL_FINISHED_OK
$STATE,2047,begin surface
$SM_CCo,2061,258.77,0.498,0,0,1067,585.04
$SM_GC,1.31,0.00,0.00,258.77,0.000,0.000,0.498,152,2146,1067,-9.39,-0.11,585.04
$IRIDIUM_FIX,4748.51,-12226.29,071111,060608
$TT8_MAMPS,0.050183
$HUMID,1078164506
$INTERNAL_PRESSURE,8.48981
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.8,40.9
$24V_AH,24.4,6.368
$10V_AH,10.5,2.870
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.325,15.025,198.175,258.775,0.000,31.181,23.716,110.095,1.000,0.000,32.815,0.000,1266.205,547.730,710.014,38.430,33.336,785.229,0.000,401.968,0.000,5.512,0.000
$DEVICE_MAMPS,291.465,55.845,564.570,498.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,157.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323748
$DATA_FILE_SIZE,6827,236
$CAP_FILE_SIZE,33498,0
$CFSIZE,260165632,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,132907,4807.515,-12223.432,12,1.8,29,18.3