version: 66.04
glider: 116
mission: 17
dive: 14
start: 4 9 109 6 24 4
data:
$ID,116
$MISSION,17
$DIVE,14
$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,-54050.906
$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,25
$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
$GPS1,061556,4807.647,-12224.681,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.4
$GPS2,062302,4807.581,-12224.541,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,0.248
$KALMAN_X,1208.7,406.3,160.6,-3186.1,129.2
$KALMAN_Y,-1666.8,-570.6,-188.2,2365.7,-148.1
$MHEAD_RNG_PITCHd_Wd,358.8,1025,-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,-46.88,0.000,2,0.000,0.000,134,1991,2671
$GC,68,-1.64,-146.6,3.3,-7.8,7,117,15.30,2.60,-24.88,0.000,4,0.191,0.071,2621,588,3778
$GC,229,-1.64,-146.6,19.1,-9.0,34,236,0.00,2.53,0.00,0.000,6,0.000,0.042,2621,2005,3779
$GC,306,-1.64,-146.6,26.3,-9.5,42,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2005,3779
$GC,497,-1.64,-146.6,45.5,-10.0,60,501,0.00,2.62,0.00,0.000,4,0.000,0.060,2621,590,3779
$GC,536,-1.64,-146.6,49.6,-10.6,63,540,0.00,2.53,0.00,0.000,6,0.000,0.041,2621,2002,3778
$GC,733,-1.64,-146.6,69.3,-9.6,81,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2001,3779
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,980,-0.42,0.0,92.3,9.5,104,1159,1.35,0.00,170.98,0.674,6,0.095,0.000,2890,2210,3178
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1162,1.64,146.6,97.7,0.0,122,1341,2.05,2.67,168.77,0.649,4,0.060,0.071,3343,3617,2580
$GC,1487,1.64,146.6,70.8,11.9,150,1492,0.00,2.50,0.00,0.000,6,0.000,0.041,3343,2212,2578
$GC,1811,1.64,146.6,35.6,10.4,180,1816,0.00,2.62,0.00,0.000,4,0.000,0.067,3343,3609,2578
$GC,1884,1.64,146.6,27.6,11.4,186,1889,0.00,2.50,0.00,0.000,6,0.000,0.040,3343,2203,2577
$GC,2088,1.77,258.2,8.3,4.9,215,2197,0.12,2.50,98.45,0.627,4,0.064,0.057,3372,805,2124
$STATE,2235,end climb,SURFACE_DEPTH_REACHED
$STATE,2235,begin surface coast
$FINISH,2.5,1.018976
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2357,97.07,0.608,0,0,1445,425.10
$SM_GC,1.25,0.00,0.00,97.07,0.000,0.000,0.608,131,2007,1445,-13.13,0.20,425.10
$IRIDIUM_FIX,4751.72,-12226.29,040798,050525
$TT8_MAMPS,0.055224
$HUMID,1734
$INTERNAL_PRESSURE,10.7231
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.4,32.047
$10V_AH,10.0,10.822
$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,33.950,25.650,438.200,97.075,0.000,28.314,25.682,255.853,0.000,0.000,393.535,14.408,491.780,965.152,552.859,488.642,411.550,33.324,862.584,0.000,446.809,0.000,13.832,0.000
$DEVICE_MAMPS,190.983,71.331,674.193,608.231,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,167.817,0.000,0.000,0.000,0.000,0.000,44.777,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6463,255
$CAP_FILE_SIZE,61329,0
$CFSIZE,260034560,257490944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,070603,4807.728,-12224.368,8,2.1,27,18.3