version: 66.04
glider: 116
mission: 17
dive: 10
start: 4 9 109 3 2 40
data:
$ID,116
$MISSION,17
$DIVE,10
$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,425
$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,-53952.332
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2985
$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,2000
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,025622,4807.791,-12224.731,8,3.1,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.6
$GPS2,030138,4807.756,-12224.649,12,2.0,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.171,0.195
$KALMAN_X,320.7,159.0,46.4,-2071.5,55.2
$KALMAN_Y,-588.1,-287.2,-104.0,1242.2,-88.2
$MHEAD_RNG_PITCHd_Wd,300.5,626,-17.5,-10.000
$D_GRID,92
$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,-146.6,0.0,0.0,0,66,0.00,0.00,-47.08,0.000,2,0.000,0.000,132,2005,2881
$GC,68,-1.64,-146.6,3.8,-9.6,7,117,15.02,2.65,-23.00,0.000,4,0.185,0.068,2620,592,3977
$GC,225,-1.64,-146.6,21.0,-10.1,33,229,0.00,2.50,0.00,0.000,6,0.000,0.041,2620,1997,3977
$GC,422,-1.64,-146.6,41.3,-10.8,51,426,0.00,2.62,0.00,0.000,4,0.000,0.070,2620,3406,3977
$GC,453,-1.64,-146.6,44.8,-11.3,53,461,0.00,2.53,0.00,0.000,6,0.000,0.043,2620,2003,3977
$GC,651,-1.64,-146.6,65.5,-10.4,72,655,0.00,2.60,0.00,0.000,4,0.000,0.061,2620,586,3976
$GC,705,-1.64,-146.6,71.5,-10.8,76,713,0.00,2.55,0.00,0.000,6,0.000,0.043,2620,1997,3977
$STATE,901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,901,begin apogee
$GC,906,-0.42,0.0,92.0,10.9,95,1085,1.35,0.00,170.35,0.674,6,0.094,0.000,2890,2221,3378
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1088,1.64,146.6,99.6,0.0,113,1267,2.05,2.72,169.25,0.648,4,0.057,0.072,3346,3615,2780
$GC,1448,1.64,146.6,81.3,10.3,144,1452,0.00,2.50,0.00,0.000,6,0.000,0.041,3346,2208,2778
$GC,1774,1.66,162.2,50.8,9.3,174,1799,0.00,2.67,18.98,0.628,4,0.000,0.069,3346,3613,2716
$GC,1871,1.66,162.2,40.9,10.2,182,1879,0.00,2.50,0.00,0.000,6,0.000,0.041,3346,2205,2716
$GC,2069,1.68,177.8,22.8,9.3,201,2093,0.00,2.67,17.98,0.621,4,0.000,0.067,3346,3615,2652
$GC,2161,1.69,186.9,13.7,9.6,214,2176,0.00,2.50,9.98,0.581,6,0.000,0.041,3346,2209,2616
$GC,2244,1.83,304.1,7.5,4.6,228,2359,0.17,2.65,103.12,0.623,4,0.060,0.058,3387,804,2138
$GC,2444,2.07,494.8,4.6,1.2,260,2480,0.20,2.53,29.92,0.600,2,0.054,0.041,3435,2222,2002
$STATE,2481,end climb,SURFACE_DEPTH_REACHED
$STATE,2481,begin surface coast
$FINISH,2.9,1.017966
$STATE,2648,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2648,begin surface
$SM_CCo,2673,55.83,0.606,0,0,1645,425.10
$SM_GC,1.27,0.00,0.00,55.83,0.000,0.000,0.606,133,1981,1645,-13.12,-0.54,425.10
$IRIDIUM_FIX,4748.51,-12233.46,040798,020231
$TT8_MAMPS,0.075166
$HUMID,1780
$INTERNAL_PRESSURE,10.7426
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,31.273
$10V_AH,10.0,10.681
$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,34.300,37.025,519.575,55.825,0.000,25.493,30.471,156.575,0.000,0.000,20.524,12.411,557.924,1044.240,593.049,559.584,318.017,33.324,956.808,0.000,524.242,0.000,13.828,0.000
$DEVICE_MAMPS,184.847,72.098,674.193,605.930,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,193.725,0.000,0.000,0.000,0.000,0.000,38.480,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9585,295
$CAP_FILE_SIZE,66516,0
$CFSIZE,260034560,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,034916,4807.817,-12224.716,12,4.1,31,18.3