version: 66.04
glider: 116
mission: 17
dive: 6
start: 4 8 109 23 25 20
data:
$ID,116
$MISSION,17
$DIVE,6
$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,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,-53872.855
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,31
$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
$GPS1,231832,4807.673,-12223.821,14,1.6,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-64.1
$GPS2,232420,4807.659,-12223.790,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.231,0.120
$KALMAN_X,11.1,11.1,11.1,-512.5,23.3
$KALMAN_Y,-26.8,-26.8,-26.8,161.5,-56.6
$MHEAD_RNG_PITCHd_Wd,279.1,1623,-17.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-146.6,0.0,0.0,0,111,0.00,0.00,-92.55,0.000,2,0.000,0.000,136,2009,3434
$GC,114,-1.64,-146.6,4.1,-6.4,14,150,15.23,2.60,-10.18,0.000,4,0.189,0.071,2630,626,3978
$GC,156,-1.64,-146.6,13.7,-18.1,20,163,0.00,2.50,0.00,0.000,6,0.000,0.044,2629,2019,3978
$GC,237,-1.64,-146.6,21.4,-9.4,33,241,0.00,2.58,0.00,0.000,4,0.000,0.060,2630,625,3979
$GC,281,-1.64,-146.6,26.0,-9.8,36,288,0.00,2.53,0.00,0.000,6,0.000,0.042,2629,2038,3979
$GC,478,-1.64,-146.6,45.8,-10.3,55,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2038,3978
$GC,669,-1.64,-146.6,65.5,-10.1,73,674,0.00,2.60,0.00,0.000,4,0.000,0.059,2629,626,3978
$GC,735,-1.64,-146.6,72.6,-10.5,78,743,0.00,2.50,0.00,0.000,6,0.000,0.042,2629,2031,3978
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1048,begin apogee
$GC,1053,-0.42,0.0,103.5,9.7,108,1232,1.35,0.00,170.93,0.690,6,0.094,0.000,2901,2110,3378
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1235,1.64,146.6,111.2,0.0,126,1414,2.05,2.65,169.45,0.663,4,0.056,0.058,3356,698,2780
$GC,1520,1.65,157.5,100.9,9.5,151,1540,0.00,2.50,14.07,0.609,6,0.000,0.042,3355,2094,2735
$GC,1857,1.66,166.9,68.6,9.6,183,1874,0.00,2.67,12.40,0.616,4,0.000,0.069,3356,3508,2697
$GC,2024,1.66,166.9,50.4,10.6,197,2033,0.00,2.53,0.00,0.000,6,0.000,0.041,3356,2106,2696
$GC,2351,1.67,169.6,18.3,9.9,229,2365,0.00,2.70,4.20,0.468,4,0.000,0.066,3355,3521,2686
$GC,2433,1.72,213.2,10.8,8.0,243,2481,0.00,2.53,40.20,0.640,6,0.000,0.042,3355,2100,2507
$STATE,2541,end climb,SURFACE_DEPTH_REACHED
$STATE,2541,begin surface coast
$FINISH,3.3,1.020167
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2656,begin surface
$SM_CCo,2680,183.60,0.614,0,0,1134,550.21
$SM_GC,0.74,0.00,0.00,183.60,0.000,0.000,0.614,134,2008,1134,-13.16,-0.57,550.21
$IRIDIUM_FIX,4748.51,-12226.29,030798,222240
$TT8_MAMPS,0.065962
$HUMID,1768
$INTERNAL_PRESSURE,10.7035
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,30.791
$10V_AH,10.0,10.538
$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,33.850,31.150,411.250,183.600,0.000,30.285,25.406,180.724,0.000,0.000,21.270,12.751,547.153,1146.456,668.401,535.429,342.655,30.181,1001.870,0.000,496.863,0.000,18.263,0.000
$DEVICE_MAMPS,188.682,71.331,690.300,613.600,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,185.089,0.000,0.000,0.000,0.000,0.000,39.880,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6475,281
$CAP_FILE_SIZE,65539,0
$CFSIZE,260034560,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,001407,4807.729,-12224.169,27,1.1,27,18.3