version: 66.04
glider: 116
mission: 17
dive: 15
start: 4 9 109 7 14 23
data:
$ID,116
$MISSION,17
$DIVE,15
$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,475
$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,-54065.066
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,070603,4807.728,-12224.368,8,2.1,27,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.7
$GPS2,071320,4807.689,-12224.274,13,1.3,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.254
$KALMAN_X,1336.7,423.1,197.2,-3035.2,107.0
$KALMAN_Y,-1858.6,-586.7,-222.9,2804.4,-144.9
$MHEAD_RNG_PITCHd_Wd,353.9,668,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-146.6,0.0,0.0,0,71,0.00,0.00,-53.38,0.000,2,0.000,0.000,131,2007,2815
$GC,74,-1.64,-146.6,3.2,-6.2,8,117,15.02,2.62,-20.58,0.000,4,0.184,0.069,2621,587,3779
$GC,330,-1.64,-146.6,30.2,-9.6,43,335,0.00,2.53,0.00,0.000,6,0.000,0.041,2621,2003,3779
$GC,527,-1.64,-146.6,48.2,-9.0,61,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2003,3779
$GC,718,-1.64,-146.6,65.8,-9.0,79,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2003,3779
$GC,1037,-1.64,-146.6,95.3,-9.6,109,1041,0.00,2.62,0.00,0.000,4,0.000,0.060,2621,589,3779
$STATE,1099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1099,begin apogee
$GC,1106,-0.42,0.0,101.5,9.6,114,1284,1.33,0.00,170.45,0.686,6,0.095,0.000,2888,2216,3178
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1287,1.64,146.6,107.9,0.0,132,1467,2.05,2.72,169.32,0.652,4,0.059,0.072,3343,3616,2579
$GC,1541,1.64,146.6,89.4,12.4,154,1545,0.00,2.50,0.00,0.000,6,0.000,0.040,3343,2209,2579
$GC,1866,1.64,146.6,53.3,11.1,184,1871,0.00,2.65,0.00,0.000,4,0.000,0.068,3343,3616,2578
$GC,1932,1.64,146.6,45.4,12.3,189,1939,0.00,2.55,0.00,0.000,6,0.000,0.041,3343,2206,2577
$GC,2129,1.64,146.6,24.4,10.8,208,2134,0.00,2.65,0.00,0.000,4,0.000,0.067,3343,3616,2577
$GC,2140,1.64,146.6,23.2,10.9,208,2147,0.00,2.50,0.00,0.000,6,0.000,0.040,3343,2210,2577
$GC,2345,1.81,287.9,6.3,3.5,242,2475,0.17,2.67,120.47,0.626,4,0.059,0.058,3385,803,2004
$STATE,2479,end climb,SURFACE_DEPTH_REACHED
$STATE,2479,begin surface coast
$FINISH,1.2,1.018894
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2679,103.43,0.604,0,0,1240,475.15
$SM_GC,0.89,0.00,0.00,103.43,0.000,0.000,0.604,132,2015,1240,-13.12,0.42,475.15
$IRIDIUM_FIX,4748.51,-12226.29,040798,060626
$TT8_MAMPS,0.056758
$HUMID,1734
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.4,32.297
$10V_AH,10.0,10.862
$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,33.825,31.200,460.250,103.425,0.000,29.211,25.691,267.439,0.000,0.000,460.625,13.530,562.639,1119.174,583.900,553.183,431.430,33.322,924.348,0.000,508.469,0.000,18.253,0.000
$DEVICE_MAMPS,184.080,72.098,685.698,604.396,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,193.406,0.000,0.000,0.000,0.000,0.000,50.107,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9617,293
$CAP_FILE_SIZE,67633,0
$CFSIZE,260034560,257421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,080132,4807.867,-12224.289,10,1.5,10,18.3