version: 66.04
glider: 116
mission: 17
dive: 17
start: 4 9 109 8 55 45
data:
$ID,116
$MISSION,17
$DIVE,17
$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,450
$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,-54114.594
$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,23
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3178
$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,0
$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
$GPS1,085102,4808.024,-12224.098,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.5
$GPS2,085443,4808.018,-12224.088,15,1.9,32,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.173,-0.194
$KALMAN_X,1288.4,397.5,181.9,-2712.2,-74.3
$KALMAN_Y,-2126.1,-583.2,-235.9,3686.7,-6.9
$MHEAD_RNG_PITCHd_Wd,120.1,4542,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.64,-146.6,0.0,0.0,0,70,0.00,0.00,-53.42,0.000,2,0.000,0.000,131,1983,2720
$GC,72,-1.64,-146.6,3.6,-7.9,10,118,15.25,2.72,-23.70,0.000,4,0.188,0.077,2624,3409,3778
$GC,369,-1.64,-146.6,34.8,-10.4,50,376,0.00,2.55,0.00,0.000,6,0.000,0.042,2624,1998,3778
$GC,567,-1.64,-146.6,53.1,-9.0,69,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1998,3778
$GC,885,-1.64,-146.6,82.8,-9.3,99,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1998,3778
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1112,-0.42,0.0,103.7,9.4,120,1290,1.30,0.00,171.43,0.686,6,0.094,0.000,2887,2214,3178
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1292,1.64,146.6,109.4,0.0,138,1473,2.08,2.70,169.55,0.651,4,0.061,0.071,3341,3605,2580
$GC,1624,1.64,146.6,82.7,11.4,169,1629,0.00,2.47,0.00,0.000,6,0.000,0.040,3342,2209,2579
$GC,1949,1.64,146.6,47.7,10.9,199,1953,0.00,2.65,0.00,0.000,4,0.000,0.068,3341,3615,2578
$GC,2025,1.64,146.6,38.8,11.6,205,2032,0.00,2.53,0.00,0.000,6,0.000,0.041,3341,2209,2578
$GC,2223,1.64,146.6,18.0,10.5,225,2229,0.00,2.65,0.00,0.000,4,0.000,0.068,3341,3618,2577
$GC,2253,1.64,146.6,14.9,11.1,230,2259,0.00,2.50,0.00,0.000,6,0.000,0.041,3341,2206,2577
$GC,2326,1.69,187.3,8.1,8.1,243,2370,0.00,2.60,36.30,0.627,4,0.000,0.058,3341,805,2414
$GC,2392,1.95,403.4,6.2,0.1,255,2505,0.32,2.50,105.82,0.616,2,0.048,0.040,3415,2210,1919
$STATE,2505,end climb,SURFACE_DEPTH_REACHED
$STATE,2506,begin surface coast
$FINISH,0.0,1.016904
$STATE,2679,end surface coast,CONTROL_FINISHED_OK
$STATE,2679,begin surface
$SM_CCo,2701,86.65,0.605,0,0,1343,450.13
$SM_GC,1.16,0.00,0.00,86.65,0.000,0.000,0.605,133,1985,1343,-13.12,-0.42,450.13
$IRIDIUM_FIX,4748.51,-12210.23,040798,080812
$TT8_MAMPS,0.026845
$HUMID,1745
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,32.545
$10V_AH,10.0,10.911
$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,33.775,26.675,483.100,86.650,0.000,25.011,26.844,80.874,0.000,0.000,0.000,32.269,441.922,1261.854,571.179,583.130,181.748,33.322,930.490,0.000,538.713,0.000,18.215,0.000
$DEVICE_MAMPS,187.915,77.467,685.698,605.163,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,201.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9585,307
$CAP_FILE_SIZE,35427,0
$CFSIZE,260034560,257363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,094319,4807.889,-12223.837,12,1.6,30,18.3