version: 66.04
glider: 116
mission: 17
dive: 11
start: 4 9 109 3 56 17
data:
$ID,116
$MISSION,17
$DIVE,11
$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,-53986.594
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2985
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,034916,4807.817,-12224.716,12,4.1,31,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.5
$GPS2,035516,4807.750,-12224.613,13,4.2,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,L
$TGT_LATLONG,4808.000,-12225.000
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.186,0.182
$KALMAN_X,532.8,246.9,52.4,-2334.5,81.9
$KALMAN_Y,-811.1,-381.6,-107.2,1553.3,-82.8
$MHEAD_RNG_PITCHd_Wd,296.1,665,-17.5,-10.000
$D_GRID,88
$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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.70,0.000,2,0.000,0.000,133,1981,2733
$GC,61,-1.64,-146.6,3.4,-6.4,6,111,14.95,2.67,-25.25,0.000,4,0.184,0.078,2621,3407,3977
$GC,150,-1.64,-146.6,15.6,-10.7,20,157,0.00,2.50,0.00,0.000,6,0.000,0.041,2621,1999,3976
$GC,225,-1.64,-146.6,22.2,-9.3,31,229,0.00,2.60,0.00,0.000,4,0.000,0.061,2621,586,3977
$GC,253,-1.64,-146.6,24.9,-9.5,33,257,0.00,2.53,0.00,0.000,6,0.000,0.041,2621,2005,3976
$GC,449,-1.64,-146.6,44.5,-10.6,51,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2005,3977
$GC,641,-1.64,-146.6,64.9,-10.3,69,645,0.00,2.60,0.00,0.000,4,0.000,0.060,2622,597,3976
$GC,706,-1.64,-146.6,72.2,-11.3,74,714,0.00,2.50,0.00,0.000,6,0.000,0.041,2622,2004,3976
$STATE,859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,864,-0.42,0.0,88.3,10.6,89,1043,1.35,0.00,170.52,0.672,6,0.094,0.000,2892,2214,3378
$STATE,1044,end apogee,CONTROL_FINISHED_OK
$STATE,1044,begin climb
$GC,1046,1.64,146.6,95.8,0.0,107,1225,2.05,2.72,169.43,0.645,4,0.057,0.071,3346,3611,2779
$GC,1477,1.64,149.2,70.5,9.9,144,1487,0.00,2.53,4.30,0.446,6,0.000,0.040,3345,2208,2769
$GC,1802,1.68,182.4,42.3,8.5,175,1850,0.00,2.67,39.67,0.637,4,0.000,0.068,3345,3611,2633
$GC,1907,1.68,182.4,32.3,10.2,184,1911,0.00,2.50,0.00,0.000,6,0.000,0.041,3346,2204,2633
$GC,2107,1.68,182.4,13.2,10.4,208,2114,0.00,2.65,0.00,0.000,4,0.000,0.068,3345,3616,2633
$GC,2266,1.99,431.0,9.1,-1.4,236,2457,0.32,2.50,179.95,0.618,2,0.061,0.041,3414,2200,1801
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2458,begin surface coast
$FINISH,2.6,1.018788
$STATE,2480,end surface coast,CONTROL_FINISHED_OK
$STATE,2480,begin surface
$SM_CCo,2504,25.00,0.578,0,0,1645,425.10
$SM_GC,1.10,0.00,0.00,25.00,0.000,0.000,0.578,134,1990,1645,-13.11,-0.28,425.10
$IRIDIUM_FIX,4748.51,-12226.29,040798,030340
$TT8_MAMPS,0.057525
$HUMID,1738
$INTERNAL_PRESSURE,10.7426
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,31.398
$10V_AH,10.0,10.716
$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,34.175,31.725,563.875,25.000,0.000,29.131,32.790,176.013,0.000,0.000,19.633,33.632,491.189,961.840,582.659,543.945,337.104,33.317,934.409,0.000,489.850,0.000,10.233,0.000
$DEVICE_MAMPS,184.080,78.234,671.892,578.318,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,174.749,0.000,0.000,0.000,0.000,0.000,36.810,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6460,268
$CAP_FILE_SIZE,61626,0
$CFSIZE,260034560,257638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,043934,4807.794,-12224.721,12,5.9,31,18.3