version: 66.04
glider: 116
mission: 17
dive: 19
start: 4 9 109 10 37 11
data:
$ID,116
$MISSION,17
$DIVE,19
$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,-54172.121
$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,25
$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,0
$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
$GPS1,103244,4807.807,-12223.552,15,1.3,15,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.5
$GPS2,103608,4807.852,-12223.594,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.120,-0.231
$KALMAN_X,1368.6,326.9,69.3,-2001.5,-95.2
$KALMAN_Y,-1880.4,-482.8,-130.0,2924.2,211.7
$MHEAD_RNG_PITCHd_Wd,134.2,3956,-17.5,-10.000
$D_GRID,105
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.64,-146.6,0.0,0.0,0,64,0.00,0.00,-48.10,0.000,2,0.000,0.000,134,1992,2595
$GC,67,-1.64,-146.6,3.4,-7.8,9,122,15.30,2.65,-30.02,0.000,4,0.189,0.071,2622,590,3779
$GC,167,-1.64,-146.6,11.5,-9.5,27,173,0.00,2.53,0.00,0.000,6,0.000,0.041,2622,2009,3778
$GC,241,-1.64,-146.6,18.3,-9.3,40,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2009,3778
$GC,315,-1.64,-146.6,25.9,-10.1,49,320,0.00,2.58,0.00,0.000,4,0.000,0.067,2622,3406,3778
$GC,336,-1.64,-146.6,28.3,-11.0,50,343,0.00,2.53,0.00,0.000,6,0.000,0.041,2622,2002,3779
$GC,533,-1.64,-146.6,48.3,-10.1,69,538,0.00,2.60,0.00,0.000,4,0.000,0.061,2622,586,3779
$GC,583,-1.64,-146.6,53.6,-10.9,73,587,0.00,2.53,0.00,0.000,6,0.000,0.041,2622,2006,3778
$GC,908,-1.64,-146.6,85.4,-9.2,103,912,0.00,2.62,0.00,0.000,4,0.000,0.060,2622,585,3778
$GC,939,-1.64,-146.6,88.7,-9.9,105,946,0.00,2.53,0.00,0.000,6,0.000,0.041,2622,2007,3779
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1114,begin apogee
$GC,1119,-0.42,0.0,105.7,10.1,122,1297,1.33,0.00,171.10,0.687,6,0.096,0.000,2889,2217,3177
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1300,1.64,146.6,111.6,0.0,140,1480,2.05,2.70,168.93,0.660,4,0.061,0.071,3341,3607,2580
$GC,1614,1.64,146.6,86.9,12.0,169,1620,0.00,2.53,0.00,0.000,6,0.000,0.041,3341,2206,2578
$GC,1939,1.64,146.6,52.4,10.7,200,1944,0.00,2.65,0.00,0.000,4,0.000,0.067,3341,3615,2578
$GC,2005,1.64,146.6,44.5,11.8,205,2012,0.00,2.50,0.00,0.000,6,0.000,0.040,3341,2205,2578
$GC,2202,1.64,146.6,23.9,10.3,224,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2205,2578
$GC,2402,1.76,250.3,6.1,5.2,256,2498,0.12,2.67,88.18,0.643,4,0.063,0.066,3370,3610,2156
$GC,2522,2.03,463.3,4.5,0.2,278,2551,0.25,2.50,23.52,0.594,2,0.053,0.040,3427,2205,2051
$STATE,2552,end climb,SURFACE_DEPTH_REACHED
$STATE,2552,begin surface coast
$FINISH,3.3,1.018627
$STATE,2663,end surface coast,CONTROL_FINISHED_OK
$STATE,2663,begin surface
$SM_CCo,2687,108.07,0.605,0,0,1343,450.13
$SM_GC,1.43,0.00,0.00,108.07,0.000,0.000,0.605,131,1992,1343,-13.13,-0.23,450.13
$IRIDIUM_FIX,4751.72,-12226.29,040798,090907
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,32.764
$10V_AH,10.0,10.955
$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,34.625,36.850,451.725,108.075,0.000,27.307,24.174,84.555,0.000,0.000,0.000,14.629,449.604,1252.371,584.455,554.699,189.408,33.328,944.934,0.000,527.696,0.000,18.206,0.000
$DEVICE_MAMPS,189.449,71.331,687.232,605.163,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,198.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9570,303
$CAP_FILE_SIZE,38982,0
$CFSIZE,260034560,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,112452,4807.743,-12223.379,11,4.9,30,18.3