version: 66.04
glider: 117
mission: 17
dive: 32
start: 3 12 109 20 57 16
data:
$ID,117
$MISSION,17
$DIVE,32
$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,-102906.2
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,204740,4808.128,-12224.406,40,1.6,43,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,205622,4808.109,-12224.376,11,2.9,30,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.236,-0.110
$KALMAN_X,1236.2,36.3,-9.1,-2985.1,27.3
$KALMAN_Y,-1603.9,-43.8,-46.9,2281.1,111.2
$MHEAD_RNG_PITCHd_Wd,226.8,824,-18.2,-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,16,-1.58,-146.6,0.0,0.0,0,100,0.00,0.00,-79.25,0.000,2,0.000,0.000,408,1979,3811
$GC,103,-1.58,-146.6,3.8,-4.5,12,126,12.75,2.62,-2.30,0.000,4,0.185,0.077,2516,3384,3925
$GC,379,-1.58,-146.6,40.3,-10.9,44,383,0.00,2.55,0.00,0.000,6,0.000,0.047,2516,1962,3925
$GC,576,-1.58,-146.6,60.3,-10.3,62,580,0.00,2.62,0.00,0.000,4,0.000,0.064,2516,3378,3925
$GC,706,-1.58,-146.6,73.0,-9.9,73,710,0.00,2.53,0.00,0.000,6,0.000,0.046,2516,1967,3925
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1002,-0.62,0.0,101.8,9.8,100,1125,1.08,0.00,116.22,0.723,6,0.113,0.000,2724,1552,3323
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1129,1.58,146.6,106.6,0.0,112,1259,2.33,2.60,115.38,0.683,4,0.078,0.081,3207,161,2724
$GC,1433,1.60,162.1,83.1,9.3,138,1453,0.00,2.47,13.38,0.631,6,0.000,0.046,3207,1554,2662
$GC,1771,1.62,180.0,52.4,9.2,170,1791,0.00,0.00,15.68,0.637,6,0.000,0.000,3207,1553,2589
$GC,2109,1.66,212.5,22.3,8.5,202,2145,0.00,2.72,27.55,0.640,4,0.000,0.081,3207,160,2456
$GC,2213,1.66,212.5,12.2,10.4,217,2220,0.00,2.47,0.00,0.000,6,0.000,0.047,3207,1552,2454
$GC,2288,1.73,265.1,6.0,7.6,230,2338,0.15,2.65,43.15,0.631,4,0.048,0.057,3247,2944,2243
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,0.4,1.019209
$STATE,2382,end surface coast,CONTROL_FINISHED_OK
$STATE,2382,begin surface
$SM_CCo,2407,35.25,0.598,1,0,1999,325.02
$SM_GC,2.67,0.00,0.00,35.25,0.000,0.000,0.598,407,1960,1999,-11.31,-0.40,325.02
$IRIDIUM_FIX,4751.72,-12219.12,060698,202018
$TT8_MAMPS,0.109681
$HUMID,1606
$INTERNAL_PRESSURE,6.92409
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.5,29.309
$10V_AH,10.0,13.054
$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,29.350,25.825,331.350,35.250,0.000,100.776,24.623,182.720,0.000,0.000,184.897,31.228,495.461,1097.457,418.842,505.703,472.182,33.330,722.526,0.000,459.923,0.000,5.710,0.000
$DEVICE_MAMPS,184.847,81.302,722.514,598.260,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,177.033,0.000,0.000,0.000,0.000,0.000,66.214,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6438,245
$CAP_FILE_SIZE,66160,0
$CFSIZE,260165632,256991232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120309,213856,4808.118,-12224.726,14,1.6,14,18.4