version: 66.04
glider: 117
mission: 17
dive: 28
start: 3 12 109 17 33 7
data:
$ID,117
$MISSION,17
$DIVE,28
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1025
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,51426
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,325
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102809.3
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3715
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1595
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.0527511
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,172331,4807.973,-12222.849,7,1.2,12,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.4
$GPS2,173214,4808.008,-12222.854,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.257,0.041
$KALMAN_X,1093.9,60.6,-43.9,-955.2,-24.7
$KALMAN_Y,-1898.9,-125.1,-29.0,2453.2,-75.2
$MHEAD_RNG_PITCHd_Wd,260.7,2681,-18.2,-10.000
$D_GRID,90
$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,16,-1.58,-146.6,0.0,0.0,0,100,0.00,0.00,-81.10,0.000,2,0.000,0.000,408,1977,3776
$GC,103,-1.58,-146.6,3.1,-4.1,12,126,12.65,2.67,-3.35,0.000,4,0.183,0.084,2515,563,3924
$GC,316,-1.58,-146.6,31.2,-11.6,40,323,0.00,2.53,0.00,0.000,6,0.000,0.045,2515,1978,3924
$GC,514,-1.58,-146.6,52.8,-11.1,59,518,0.00,2.60,0.00,0.000,4,0.000,0.067,2514,3376,3924
$GC,546,-1.58,-146.6,56.7,-11.8,61,553,0.00,2.53,0.00,0.000,6,0.000,0.048,2515,1969,3924
$GC,871,-1.58,-146.6,89.4,-10.1,92,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1969,3924
$STATE,880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,886,-0.38,0.0,90.5,10.1,93,1014,1.33,0.00,116.85,0.707,6,0.106,0.000,2774,1590,3323
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1017,1.58,146.6,94.6,0.0,106,1147,2.03,2.67,115.62,0.678,4,0.071,0.081,3206,193,2724
$GC,1231,1.58,146.6,79.1,10.0,124,1239,0.00,2.53,0.00,0.000,6,0.000,0.046,3205,1607,2722
$GC,1557,1.62,181.0,50.7,8.4,155,1593,0.00,2.75,28.15,0.658,4,0.000,0.079,3206,193,2585
$GC,1650,1.64,193.2,42.3,9.4,163,1666,0.00,2.50,11.27,0.608,6,0.000,0.046,3205,1597,2536
$GC,1866,1.67,222.6,23.6,8.7,183,1903,0.10,2.80,25.08,0.633,4,0.058,0.080,3235,189,2415
$GC,1950,1.67,222.6,14.8,11.5,193,1957,0.00,2.53,0.00,0.000,6,0.000,0.047,3236,1601,2413
$GC,2025,1.67,222.6,6.6,10.3,206,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1601,2412
$STATE,2069,end climb,SURFACE_DEPTH_REACHED
$STATE,2069,begin surface coast
$FINISH,0.6,1.021282
$STATE,2093,end surface coast,CONTROL_FINISHED_OK
$STATE,2093,begin surface
$SM_CCo,2116,57.25,0.624,0,0,1998,325.02
$SM_GC,1.12,0.00,0.00,57.25,0.000,0.000,0.624,404,1981,1998,-11.32,0.17,325.02
$IRIDIUM_FIX,4751.72,-12226.29,060698,161651
$TT8_MAMPS,0.104312
$HUMID,1616
$INTERNAL_PRESSURE,6.93386
$TCM_TEMP,19.40
$XPDR_PINGS,-1
$24V_AH,23.7,28.840
$10V_AH,10.0,12.914
$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,28.900,27.500,296.975,57.250,0.000,100.990,25.968,201.604,0.000,0.000,109.202,13.158,446.908,935.938,424.025,427.101,481.702,33.331,707.316,0.000,399.866,0.000,5.710,0.000
$DEVICE_MAMPS,182.546,84.370,707.174,624.338,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,157.745,0.000,0.000,0.000,0.000,0.000,33.497,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6425,218
$CAP_FILE_SIZE,61246,0
$CFSIZE,260165632,257204224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,181047,4808.056,-12223.183,38,1.4,49,18.3