version: 66.04
glider: 116
mission: 17
dive: 12
start: 4 9 109 4 46 5
data:
$ID,116
$MISSION,17
$DIVE,12
$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,-54022.105
$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,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3178
$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
$GPS1,043934,4807.794,-12224.721,12,5.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.2
$GPS2,044504,4807.751,-12224.616,15,6.2,34,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.191,0.177
$KALMAN_X,739.4,306.4,68.6,-2619.1,117.2
$KALMAN_Y,-1023.4,-443.2,-111.1,1832.3,-99.0
$MHEAD_RNG_PITCHd_Wd,294.5,661,-17.5,-10.000
$D_GRID,88
$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,-146.6,0.0,0.0,0,65,0.00,0.00,-46.45,0.000,2,0.000,0.000,134,1989,2860
$GC,67,-1.64,-146.6,3.1,-4.7,7,110,15.43,2.58,-18.88,0.000,4,0.195,0.071,2621,596,3777
$GC,237,-1.64,-146.6,23.0,-9.7,33,245,0.00,2.53,0.00,0.000,6,0.000,0.042,2620,2007,3777
$GC,435,-1.64,-146.6,42.3,-9.5,52,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2006,3777
$GC,627,-1.64,-146.6,61.5,-9.9,70,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2006,3777
$STATE,901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,901,begin apogee
$GC,906,-0.42,0.0,89.0,9.8,96,1085,1.33,0.00,171.02,0.670,6,0.094,0.000,2888,2215,3178
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1088,1.64,146.6,94.3,0.0,114,1269,2.05,2.70,169.82,0.644,4,0.061,0.071,3340,3609,2580
$GC,1381,1.64,146.6,70.9,11.8,139,1388,0.00,2.50,0.00,0.000,6,0.000,0.041,3340,2209,2579
$GC,1706,1.64,146.6,35.3,10.9,170,1710,0.00,2.65,0.00,0.000,4,0.000,0.068,3340,3615,2578
$GC,1737,1.64,146.6,31.5,11.6,172,1745,0.00,2.60,0.00,0.000,6,0.000,0.041,3340,2209,2578
$GC,1939,1.64,146.6,11.7,10.7,198,1946,0.00,2.65,0.00,0.000,4,0.000,0.067,3340,3616,2577
$GC,1980,1.72,216.0,8.3,6.8,205,2048,0.00,2.50,62.03,0.624,6,0.000,0.040,3340,2205,2297
$GC,2117,1.93,384.7,5.9,2.2,227,2186,0.28,0.00,64.90,0.609,2,0.051,0.000,3406,2205,1995
$STATE,2187,end climb,SURFACE_DEPTH_REACHED
$STATE,2188,begin surface coast
$FINISH,1.1,1.018537
$STATE,2299,end surface coast,CONTROL_FINISHED_OK
$STATE,2299,begin surface
$SM_CCo,2323,76.60,0.599,0,0,1444,425.10
$SM_GC,1.11,0.00,0.00,76.60,0.000,0.000,0.599,133,1993,1444,-13.12,-0.23,425.10
$IRIDIUM_FIX,4751.72,-12255.75,040798,040439
$TT8_MAMPS,0.105079
$HUMID,1755
$INTERNAL_PRESSURE,10.7328
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.4,31.600
$10V_AH,10.0,10.750
$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,34.525,21.450,467.775,76.600,0.000,25.402,26.573,151.580,0.000,0.000,336.079,34.881,480.698,932.978,557.864,489.481,296.577,33.322,865.901,0.000,438.086,0.000,10.236,0.000
$DEVICE_MAMPS,194.818,71.331,670.358,599.027,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,168.534,0.000,0.000,0.000,0.000,0.000,40.993,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6449,257
$CAP_FILE_SIZE,56986,0
$CFSIZE,260034560,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,052655,4807.699,-12224.712,9,1.9,14,18.3