version: 66.04
glider: 116
mission: 17
dive: 4
start: 4 8 109 21 22 22
data:
$ID,116
$MISSION,17
$DIVE,4
$D_SURF,2
$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,60
$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,550
$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,-53717.293
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2995
$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,2027
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3378
$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
$GPS1,211504,4809.369,-12224.520,8,2.6,27,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-67.0
$GPS2,212120,4809.500,-12224.613,16,1.4,16,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.220
$KALMAN_X,-674.3,-389.7,-364.1,184.9,-120.5
$KALMAN_Y,1127.1,644.0,599.1,-184.3,187.6
$MHEAD_RNG_PITCHd_Wd,129.3,2879,-17.5,-10.000
$D_GRID,44
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-72.72,0.000,2,0.000,0.000,134,2013,2588
$GC,93,-1.64,-146.6,3.0,-6.1,11,149,14.55,0.00,-36.45,0.000,6,0.172,0.000,2630,2013,3976
$GC,217,-1.64,-146.6,14.0,-9.8,31,224,0.00,2.67,0.00,0.000,4,0.000,0.069,2630,3441,3976
$GC,247,-1.64,-146.6,16.8,-9.0,36,254,0.00,2.53,0.00,0.000,6,0.000,0.043,2630,2023,3976
$GC,325,-1.64,-146.6,24.3,-9.7,46,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2023,3976
$GC,516,-1.64,-146.6,42.4,-9.3,64,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2023,3976
$STATE,535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,535,begin apogee
$GC,539,-0.42,0.0,44.4,9.3,66,713,1.35,0.00,167.68,0.650,6,0.093,0.000,2903,2023,3378
$STATE,714,end apogee,CONTROL_FINISHED_OK
$STATE,714,begin climb
$GC,716,1.64,146.6,45.5,0.0,83,893,1.98,2.70,166.35,0.626,4,0.048,0.067,3352,3441,2780
$GC,1146,1.66,161.7,16.2,9.3,123,1168,0.00,2.53,15.68,0.592,6,0.000,0.043,3352,2027,2718
$GC,1236,1.72,214.8,8.2,7.6,138,1290,0.00,2.65,47.17,0.609,4,0.000,0.064,3352,3432,2501
$GC,1543,2.01,451.3,6.4,-0.9,191,1752,0.38,2.50,196.65,0.607,6,0.060,0.041,3432,2025,1538
$STATE,1756,end climb,SURFACE_DEPTH_REACHED
$STATE,1756,begin surface coast
$FINISH,0.0,1.017029
$STATE,1818,end surface coast,CONTROL_FINISHED_OK
$STATE,1819,begin surface
$SM_CCo,1841,62.20,0.584,0,0,1135,550.21
$SM_GC,0.91,0.00,0.00,62.20,0.000,0.000,0.584,135,2021,1135,-13.16,-0.17,550.21
$IRIDIUM_FIX,4751.72,-12220.85,030798,202022
$TT8_MAMPS,0.065962
$HUMID,1760
$INTERNAL_PRESSURE,10.7231
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.8,30.504
$10V_AH,10.0,10.448
$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,33.275,15.575,593.525,62.200,0.000,25.497,39.095,200.653,0.000,0.000,16.089,16.258,384.430,463.630,660.403,441.902,359.514,32.336,979.812,0.000,407.858,0.000,10.234,0.000
$DEVICE_MAMPS,171.808,69.030,650.416,583.687,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,150.023,0.000,0.000,0.000,0.000,0.000,30.164,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6464,234
$CAP_FILE_SIZE,52847,0
$CFSIZE,260034560,257953792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,215455,4809.575,-12224.601,9,1.3,14,18.4