version: 66.04
glider: 116
mission: 17
dive: 9
start: 4 9 109 2 7 28
data:
$ID,116
$MISSION,17
$DIVE,9
$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,425
$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,-53939.293
$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,2000
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,020110,4807.734,-12224.649,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.2
$GPS2,020626,4807.733,-12224.616,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.169,0.197
$KALMAN_X,168.9,88.0,39.6,-1798.8,31.4
$KALMAN_Y,-392.5,-204.1,-102.2,919.2,-72.8
$MHEAD_RNG_PITCHd_Wd,301.1,685,-17.5,-10.000
$D_GRID,92
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,72,0.00,0.00,-53.50,0.000,2,0.000,0.000,131,2019,2892
$GC,75,-1.64,-146.6,3.3,-7.1,8,124,15.35,2.67,-23.05,0.000,4,0.191,0.070,2632,595,3976
$GC,336,-1.64,-146.6,32.8,-10.9,42,344,0.00,2.53,0.00,0.000,6,0.000,0.042,2632,1997,3977
$GC,534,-1.64,-146.6,52.3,-9.7,61,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1997,3977
$GC,854,-1.64,-146.6,83.6,-10.0,91,858,0.00,2.60,0.00,0.000,4,0.000,0.060,2632,587,3977
$GC,927,-1.64,-146.6,91.0,-10.1,97,931,0.00,2.53,0.00,0.000,6,0.000,0.042,2632,2007,3976
$STATE,942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,946,-0.42,0.0,92.7,9.8,98,1125,1.35,0.00,170.23,0.677,6,0.093,0.000,2903,2216,3378
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1128,1.64,146.6,100.0,0.0,116,1304,2.00,0.00,169.32,0.650,6,0.054,0.000,3353,2216,2780
$GC,1620,1.65,157.7,70.4,9.5,162,1644,0.00,2.70,13.90,0.614,4,0.000,0.071,3354,3615,2735
$GC,1727,1.65,157.7,59.2,10.8,171,1735,0.00,2.53,0.00,0.000,6,0.000,0.040,3354,2209,2735
$GC,2053,1.68,178.2,28.8,9.1,202,2086,0.00,2.72,24.12,0.635,4,0.000,0.068,3353,3615,2650
$GC,2101,1.68,178.2,23.8,10.1,206,2109,0.00,2.53,0.00,0.000,6,0.000,0.040,3354,2212,2650
$GC,2308,1.84,310.6,6.4,3.9,239,2430,0.17,2.60,114.50,0.623,4,0.060,0.058,3395,805,2111
$STATE,2491,end climb,SURFACE_DEPTH_REACHED
$STATE,2491,begin surface coast
$FINISH,-0.1,1.008940
$STATE,2773,end surface coast,CONTROL_FINISHED_OK
$STATE,2773,begin surface
$SM_CCo,2798,72.80,0.616,0,0,1645,425.10
$SM_GC,1.91,0.00,0.00,72.80,0.000,0.000,0.616,132,2005,1645,-13.17,0.14,425.10
$IRIDIUM_FIX,4751.72,-12226.29,040798,010144
$TT8_MAMPS,0.064428
$HUMID,1777
$INTERNAL_PRESSURE,10.7524
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.7,31.151
$10V_AH,9.9,10.646
$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,33.575,25.950,492.075,72.800,0.000,28.273,31.613,153.350,0.000,0.000,21.361,14.602,592.081,1138.030,597.522,571.828,316.085,33.315,948.387,0.000,534.788,0.000,13.829,0.000
$DEVICE_MAMPS,190.983,71.331,677.261,615.901,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,209.819,0.000,0.000,0.000,0.000,0.000,40.049,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9569,318
$CAP_FILE_SIZE,66016,0
$CFSIZE,260034560,257720320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,025622,4807.791,-12224.731,8,3.1,27,18.3