version: 66.04
glider: 117
mission: 17
dive: 3
start: 3 11 109 21 42 40
data:
$ID,117
$MISSION,17
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1025
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,51426
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102220.38
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3715
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.0527511
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,213636,4807.607,-12223.189,10,1.6,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-57.0
$GPS2,214150,4807.557,-12223.175,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,150.000
$KALMAN_CONTROL,-0.230,0.122
$KALMAN_X,153.6,109.3,104.7,-606.4,73.6
$KALMAN_Y,-244.7,-144.9,-136.0,98.4,-97.4
$MHEAD_RNG_PITCHd_Wd,279.6,2430,-18.2,-10.000
$D_GRID,90
$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,16,-1.58,-146.6,0.0,0.0,0,132,0.00,0.00,-110.88,0.000,2,0.000,0.000,410,1982,3706
$GC,135,-1.58,-146.6,3.1,-3.9,17,164,13.07,2.72,-4.97,0.000,4,0.191,0.086,2509,3379,3924
$GC,325,-1.58,-146.6,27.0,-10.7,44,333,0.00,2.58,0.00,0.000,6,0.000,0.053,2509,1967,3925
$GC,523,-1.58,-146.6,47.1,-10.6,63,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1967,3925
$GC,715,-1.58,-146.6,66.4,-9.9,81,719,0.00,2.65,0.00,0.000,4,0.000,0.072,2509,3370,3925
$GC,799,-1.58,-146.6,75.1,-9.9,88,803,0.00,2.58,0.00,0.000,6,0.000,0.051,2509,1967,3925
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,958,-0.38,0.0,90.4,9.7,102,1080,1.35,0.00,116.35,0.726,6,0.111,0.000,2769,1699,3324
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1084,1.58,146.6,94.1,0.0,114,1212,2.08,2.85,116.40,0.689,4,0.074,0.090,3205,286,2724
$GC,1275,1.60,163.0,80.8,9.2,131,1299,0.00,2.53,14.38,0.637,6,0.000,0.049,3204,1694,2658
$GC,1617,1.64,194.1,51.5,8.6,163,1652,0.00,2.83,26.00,0.673,4,0.000,0.088,3205,289,2531
$GC,1732,1.64,194.1,40.7,10.2,173,1736,0.00,2.55,0.00,0.000,6,0.000,0.049,3205,1702,2529
$GC,1929,1.67,220.9,23.6,8.8,191,1958,0.00,2.83,22.75,0.647,4,0.000,0.088,3205,285,2422
$GC,2076,1.70,243.9,9.6,8.9,213,2104,0.12,2.58,19.70,0.630,6,0.052,0.050,3238,1707,2329
$STATE,2164,end climb,SURFACE_DEPTH_REACHED
$STATE,2164,begin surface coast
$FINISH,0.4,1.006434
$STATE,2194,end surface coast,CONTROL_FINISHED_OK
$STATE,2194,begin surface
$SM_CCo,2218,81.80,0.635,0,0,1693,400.08
$SM_GC,1.16,0.00,0.00,81.80,0.000,0.000,0.635,407,1980,1693,-11.28,0.14,400.08
$IRIDIUM_FIX,4751.72,-12226.29,050698,212114
$TT8_MAMPS,0.065962
$HUMID,1617
$INTERNAL_PRESSURE,6.88503
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.4,25.812
$10V_AH,10.0,12.087
$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,29.600,27.700,315.575,81.800,0.000,0.000,0.000,0.000,0.000,0.000,176.592,13.283,459.312,923.759,480.401,432.343,76.428,31.416,770.156,0.000,422.969,0.000,5.708,0.000
$DEVICE_MAMPS,190.983,89.739,726.349,635.076,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,168.901,0.000,0.000,0.000,0.000,0.000,35.828,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6463,233
$CAP_FILE_SIZE,77561,0
$CFSIZE,260165632,258412544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110309,222206,4807.731,-12223.451,12,1.2,28,18.3