version: 66.04
glider: 116
mission: 17
dive: 7
start: 4 9 109 0 20 25
data:
$ID,116
$MISSION,17
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1050
$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,40
$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,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,51242
$NAV_MODE,1
$FERRY_MAX,0
$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,450
$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,15
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-53890.871
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2995
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2027
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3378
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.23661056
$PRESSURE_SLOPE,0.0001158926
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$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,0.0043755369
$SEABIRD_T_H,0.00063954171
$SEABIRD_T_I,2.7100008e-05
$SEABIRD_T_J,3.135212e-06
$SEABIRD_C_G,-9.8677502
$SEABIRD_C_H,1.1239791
$SEABIRD_C_I,-0.0015851235
$SEABIRD_C_J,0.00021129416
$GPS1,001407,4807.729,-12224.169,27,1.1,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.7
$GPS2,001925,4807.734,-12224.161,12,1.8,17,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.226,0.128
$KALMAN_X,19.7,16.2,15.6,-988.4,14.2
$KALMAN_Y,-75.9,-55.4,-52.3,402.7,-49.8
$MHEAD_RNG_PITCHd_Wd,281.3,1147,-17.5,-10.000
$D_GRID,101
$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,16,-1.64,-146.6,0.0,0.0,0,99,0.00,0.00,-79.30,0.000,2,0.000,0.000,134,2005,3121
$GC,102,-1.64,-146.6,3.7,-6.9,12,144,15.07,2.60,-17.23,0.000,4,0.186,0.072,2633,626,3977
$GC,397,-1.64,-146.6,37.8,-9.6,47,404,0.00,2.50,0.00,0.000,6,0.000,0.044,2632,2027,3977
$GC,594,-1.64,-146.6,57.9,-10.0,66,598,0.00,2.60,0.00,0.000,4,0.000,0.060,2632,618,3977
$GC,816,-1.64,-146.6,80.9,-10.5,85,824,0.00,2.55,0.00,0.000,6,0.000,0.043,2632,2030,3977
$STATE,1034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1040,-0.42,0.0,101.7,9.6,106,1218,1.30,0.00,170.68,0.685,6,0.091,0.000,2898,2213,3377
$STATE,1219,end apogee,CONTROL_FINISHED_OK
$STATE,1219,begin climb
$GC,1221,1.64,146.6,108.7,0.0,124,1402,2.05,2.65,169.75,0.657,4,0.055,0.055,3355,790,2780
$GC,1587,1.64,148.0,90.1,9.9,156,1595,0.00,2.53,0.00,0.000,6,0.000,0.042,3354,2201,2779
$GC,1912,1.65,158.0,58.7,9.5,187,1936,0.00,2.70,14.27,0.626,4,0.000,0.072,3354,3605,2733
$GC,2019,1.65,158.0,47.5,11.1,196,2027,0.00,2.53,0.00,0.000,6,0.000,0.040,3354,2196,2733
$GC,2217,1.68,181.1,29.3,8.9,215,2253,0.00,2.70,27.15,0.642,4,0.000,0.068,3354,3612,2639
$GC,2316,1.68,181.1,19.1,11.6,224,2323,0.00,2.50,0.00,0.000,6,0.000,0.041,3354,2202,2638
$GC,2390,1.68,181.1,11.2,10.3,237,2398,0.00,2.58,0.00,0.000,4,0.000,0.058,3354,791,2638
$GC,2471,1.85,321.1,5.5,3.6,251,2527,0.20,2.50,49.53,0.630,2,0.056,0.041,3399,2203,2403
$STATE,2528,end climb,SURFACE_DEPTH_REACHED
$STATE,2529,begin surface coast
$FINISH,3.5,1.020233
$STATE,2703,end surface coast,CONTROL_FINISHED_OK
$STATE,2703,begin surface
$SM_CCo,2727,109.78,0.612,0,0,1543,450.13
$SM_GC,0.88,0.00,0.00,109.78,0.000,0.000,0.612,133,2014,1543,-13.17,-0.37,450.13
$IRIDIUM_FIX,4748.51,-12224.57,030798,232301
$TT8_MAMPS,0.056758
$HUMID,1766
$INTERNAL_PRESSURE,10.7328
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,30.909
$10V_AH,10.0,10.575
$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,33.925,31.575,431.375,109.775,0.000,25.866,29.635,155.597,0.000,0.000,21.573,17.387,564.976,1091.631,606.947,604.042,315.785,31.417,969.682,0.000,558.889,0.000,18.255,0.000
$DEVICE_MAMPS,185.614,72.098,684.931,612.066,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,191.056,0.000,0.000,0.000,0.000,0.000,40.447,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9596,290
$CAP_FILE_SIZE,65763,0
$CFSIZE,260034560,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,010832,4807.703,-12224.417,14,1.9,14,18.3