version: 66.04
glider: 117
mission: 17
dive: 18
start: 3 12 109 9 33 12
data:
$ID,117
$MISSION,17
$DIVE,18
$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,-102595.48
$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,1595
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,28
$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
$GPS1,092343,4808.085,-12223.594,11,1.7,16,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.9
$GPS2,093219,4808.059,-12223.508,10,1.8,15,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.253,-0.061
$KALMAN_X,882.0,147.0,69.2,-1748.2,54.6
$KALMAN_Y,-1249.3,-305.8,-144.0,2193.2,87.5
$MHEAD_RNG_PITCHd_Wd,238.2,1876,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-78.65,0.000,2,0.000,0.000,405,1981,3554
$GC,102,-1.58,-146.6,3.1,-3.4,12,132,12.55,2.58,-9.23,0.000,4,0.182,0.079,2502,3381,3923
$GC,304,-1.58,-146.6,27.2,-11.4,41,312,0.00,2.55,0.00,0.000,6,0.000,0.049,2502,1967,3924
$GC,502,-1.58,-146.6,48.6,-10.8,60,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1968,3924
$GC,693,-1.58,-146.6,69.4,-10.4,78,697,0.00,2.62,0.00,0.000,4,0.000,0.065,2501,3378,3923
$GC,736,-1.58,-146.6,74.5,-11.4,81,744,0.00,2.55,0.00,0.000,6,0.000,0.048,2502,1965,3923
$STATE,891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,891,begin apogee
$GC,897,-0.38,0.0,90.5,10.0,96,1019,1.33,0.00,115.97,0.707,6,0.107,0.000,2760,1593,3324
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,1.58,146.6,94.7,0.0,108,1154,2.05,2.83,115.35,0.673,4,0.074,0.085,3192,187,2725
$GC,1283,1.60,160.7,75.2,9.4,130,1302,0.00,2.53,12.52,0.617,6,0.000,0.048,3192,1598,2667
$GC,1620,1.65,201.9,47.4,8.1,162,1663,0.00,2.78,34.15,0.647,4,0.000,0.084,3192,191,2500
$GC,1715,1.65,201.9,38.6,10.2,170,1723,0.00,2.53,0.00,0.000,6,0.000,0.048,3192,1600,2497
$GC,1913,1.68,230.3,20.4,8.7,189,1940,0.12,0.00,23.60,0.630,6,0.051,0.000,3226,1600,2385
$GC,2008,1.69,238.5,11.1,9.6,204,2021,0.00,0.00,8.12,0.569,6,0.000,0.000,3226,1600,2350
$GC,2089,1.73,268.6,3.4,8.6,218,2111,0.00,0.00,19.48,0.614,2,0.000,0.000,3226,1600,2254
$STATE,2111,end climb,SURFACE_DEPTH_REACHED
$STATE,2112,begin surface coast
$FINISH,0.3,1.010271
$STATE,2139,end surface coast,CONTROL_FINISHED_OK
$STATE,2139,begin surface
$SM_CCo,2164,59.45,0.614,0,0,1795,375.06
$SM_GC,1.30,0.00,0.00,59.45,0.000,0.000,0.614,407,1981,1795,-11.24,0.17,375.06
$IRIDIUM_FIX,4748.51,-12226.29,060698,080805
$TT8_MAMPS,0.102011
$HUMID,1593
$INTERNAL_PRESSURE,6.90456
$TCM_TEMP,19.60
$XPDR_PINGS,-1
$24V_AH,23.5,27.636
$10V_AH,10.0,12.581
$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,28.975,22.350,329.200,59.450,0.000,93.527,25.050,202.490,0.000,0.000,112.877,16.484,453.092,953.904,451.262,434.258,466.774,33.329,730.214,0.000,406.047,0.000,5.704,0.000
$DEVICE_MAMPS,181.779,85.137,707.174,613.600,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,162.990,0.000,0.000,0.000,0.000,0.000,37.780,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6439,226
$CAP_FILE_SIZE,57706,0
$CFSIZE,260165632,257695744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,101137,4808.051,-12223.876,43,1.0,43,18.3