version: 66.04
glider: 117
mission: 17
dive: 6
start: 3 12 109 0 11 26
data:
$ID,117
$MISSION,17
$DIVE,6
$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,375
$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,-102297.49
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2850
$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,14
$R_STBD_OVSHOOT,29
$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
$GPS1,000116,4807.973,-12224.100,15,2.4,34,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.9
$GPS2,001034,4807.938,-12224.104,10,2.6,29,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,250.000
$KALMAN_CONTROL,-0.260,-0.014
$KALMAN_X,243.8,169.8,98.1,-1897.3,-4.9
$KALMAN_Y,-166.9,-136.4,-116.4,688.4,76.7
$MHEAD_RNG_PITCHd_Wd,248.5,1143,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.58,-146.6,0.0,0.0,0,105,0.00,0.00,-85.10,0.000,2,0.000,0.000,409,1984,3728
$GC,110,-1.58,-146.6,3.5,-4.3,13,133,12.73,2.62,-4.38,0.000,4,0.187,0.081,2499,3381,3926
$GC,189,-1.58,-146.6,16.1,-11.2,26,197,0.00,2.55,0.00,0.000,6,0.000,0.050,2499,1971,3926
$GC,264,-1.58,-146.6,23.8,-10.2,36,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1971,3927
$GC,454,-1.58,-146.6,44.1,-10.7,54,458,0.00,2.62,0.00,0.000,4,0.000,0.067,2499,3374,3926
$GC,542,-1.58,-146.6,54.2,-11.7,61,550,0.00,2.53,0.00,0.000,6,0.000,0.049,2499,1971,3926
$GC,868,-1.58,-146.6,88.3,-10.2,92,872,0.00,2.62,0.00,0.000,4,0.000,0.067,2499,3377,3926
$STATE,882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,882,begin apogee
$GC,891,-0.38,0.0,90.1,10.4,93,1014,1.35,0.00,116.28,0.712,6,0.114,0.000,2759,1702,3325
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1017,1.58,146.6,94.9,0.0,105,1148,2.05,2.80,115.50,0.680,4,0.074,0.084,3192,295,2725
$GC,1311,1.60,165.1,73.4,9.2,130,1333,0.00,2.53,15.65,0.639,6,0.000,0.047,3192,1703,2651
$GC,1660,1.65,201.2,43.8,8.3,163,1697,0.00,2.80,30.40,0.660,4,0.000,0.084,3192,282,2502
$GC,1792,1.67,218.0,31.8,9.2,174,1813,0.10,2.55,14.70,0.621,6,0.056,0.048,3220,1705,2434
$GC,2005,1.70,240.2,11.8,9.0,201,2032,0.00,2.80,19.10,0.625,4,0.000,0.085,3220,283,2343
$STATE,2120,end climb,SURFACE_DEPTH_REACHED
$STATE,2121,begin surface coast
$FINISH,1.1,1.021059
$STATE,2133,end surface coast,CONTROL_FINISHED_OK
$STATE,2133,begin surface
$SM_CCo,2161,74.38,0.626,0,0,1795,375.06
$SM_GC,1.21,0.00,0.00,74.38,0.000,0.000,0.626,407,1981,1795,-11.24,0.17,375.06
$IRIDIUM_FIX,4751.72,-12223.57,050698,232303
$TT8_MAMPS,0.085137
$HUMID,1602
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.50
$XPDR_PINGS,-1
$24V_AH,23.7,26.204
$10V_AH,10.0,12.193
$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,29.100,32.650,311.625,74.375,0.000,95.219,26.218,226.819,0.000,0.000,116.380,30.705,454.258,958.339,452.981,462.394,483.563,33.323,735.397,0.000,415.915,0.000,5.702,0.000
$DEVICE_MAMPS,187.148,85.137,711.776,625.872,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,161.210,0.000,0.000,0.000,0.000,0.000,37.449,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6466,223
$CAP_FILE_SIZE,56459,0
$CFSIZE,260165632,258277376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,004931,4808.028,-12224.478,7,1.8,12,18.3