version: 66.04
glider: 117
mission: 17
dive: 30
start: 3 12 109 19 13 33
data:
$ID,117
$MISSION,17
$DIVE,30
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$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,35
$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,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$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,-102857.23
$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,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,30
$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
$GPS1,190332,4808.134,-12223.572,13,1.8,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.9
$GPS2,191232,4808.110,-12223.586,10,1.6,10,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.257,-0.042
$KALMAN_X,1202.5,47.4,-41.4,-1954.1,27.7
$KALMAN_Y,-1781.9,-97.8,-74.1,2540.8,31.3
$MHEAD_RNG_PITCHd_Wd,242.4,1788,-18.2,-10.000
$D_GRID,103
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.58,-146.6,0.0,0.0,0,114,0.00,0.00,-85.25,0.000,6,0.000,0.000,410,1979,3923
$GC,117,-1.58,-146.6,3.9,-6.3,13,138,12.68,2.62,0.00,0.000,4,0.184,0.066,2517,3371,3925
$GC,393,-1.58,-146.6,40.3,-11.2,45,397,0.00,2.53,0.00,0.000,6,0.000,0.048,2517,1973,3925
$GC,590,-1.58,-146.6,60.7,-10.1,63,594,0.00,2.60,0.00,0.000,4,0.000,0.064,2517,3376,3925
$GC,730,-1.58,-146.6,75.3,-10.5,75,734,0.00,2.53,0.00,0.000,6,0.000,0.045,2517,1964,3925
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1027,-0.62,0.0,103.7,9.7,102,1150,1.08,0.00,116.57,0.723,6,0.114,0.000,2724,1546,3323
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1154,1.58,146.6,108.6,0.0,114,1284,2.33,2.70,115.75,0.688,4,0.078,0.081,3208,162,2724
$GC,1391,1.58,146.6,90.5,10.0,134,1398,0.00,2.47,0.00,0.000,6,0.000,0.046,3208,1554,2722
$GC,1716,1.62,177.4,62.0,8.6,165,1749,0.00,0.00,25.35,0.655,6,0.000,0.000,3208,1554,2599
$GC,2067,1.66,207.4,31.0,8.6,198,2103,0.00,2.75,25.42,0.644,4,0.000,0.081,3207,164,2477
$GC,2194,1.67,216.1,18.6,9.6,210,2209,0.00,2.47,8.60,0.584,6,0.000,0.047,3208,1555,2442
$GC,2277,1.70,243.2,11.0,8.8,224,2306,0.12,2.65,23.25,0.624,4,0.054,0.056,3242,2950,2332
$GC,2326,1.70,243.2,6.1,10.8,231,2333,0.00,2.58,0.00,0.000,6,0.000,0.052,3242,1547,2329
$STATE,2366,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,0.3,1.021154
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2390,begin surface
$SM_CCo,2413,47.03,0.630,0,0,1999,325.02
$SM_GC,1.02,0.00,0.00,47.03,0.000,0.000,0.630,408,1977,1999,-11.29,0.03,325.02
$IRIDIUM_FIX,4751.72,-12220.85,060698,181847
$TT8_MAMPS,0.098943
$HUMID,1624
$INTERNAL_PRESSURE,6.92409
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,29.080
$10V_AH,10.0,12.985
$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,29.175,27.450,314.950,47.025,0.000,95.862,27.953,214.363,0.000,0.000,122.561,10.800,492.774,1102.977,422.597,486.995,521.330,33.332,727.586,0.000,459.100,0.000,5.707,0.000
$DEVICE_MAMPS,184.080,81.302,723.281,629.707,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,175.039,0.000,0.000,0.000,0.000,0.000,37.628,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6444,242
$CAP_FILE_SIZE,66631,0
$CFSIZE,260165632,257093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,195520,4808.168,-12223.953,9,1.9,9,18.3