version: 66.04
glider: 117
mission: 17
dive: 21
start: 3 12 109 11 59 1
data:
$ID,117
$MISSION,17
$DIVE,21
$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,-102660.18
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,114932,4808.018,-12224.539,8,1.5,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.8
$GPS2,115808,4807.997,-12224.506,14,1.3,14,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,L
$TGT_LATLONG,4808.003,-12225.023
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.260,-0.024
$KALMAN_X,992.3,140.7,109.9,-3125.8,-7.4
$KALMAN_Y,-1348.2,-226.4,-9.4,1963.0,51.2
$MHEAD_RNG_PITCHd_Wd,246.5,640,-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,-146.6,0.0,0.0,0,114,0.00,0.00,-91.78,0.000,2,0.000,0.000,410,1981,3844
$GC,117,-1.58,-146.6,3.5,-5.4,14,139,12.55,2.60,-1.70,0.000,4,0.182,0.076,2500,3373,3923
$GC,246,-1.58,-146.6,23.7,-10.8,34,251,0.00,2.53,0.00,0.000,6,0.000,0.048,2501,1973,3924
$GC,444,-1.58,-146.6,45.0,-10.6,52,448,0.00,2.62,0.00,0.000,4,0.000,0.064,2501,3383,3924
$GC,453,-1.58,-146.6,46.3,-10.8,52,461,0.00,2.55,0.00,0.000,6,0.000,0.047,2502,1961,3924
$GC,651,-1.58,-146.6,67.6,-10.5,71,655,0.00,2.62,0.00,0.000,4,0.000,0.064,2501,3374,3924
$GC,746,-1.58,-146.6,78.2,-10.9,79,751,0.00,2.50,0.00,0.000,6,0.000,0.047,2501,1977,3924
$STATE,867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,867,begin apogee
$GC,873,-0.38,0.0,91.1,10.5,90,996,1.33,0.00,116.25,0.709,6,0.110,0.000,2758,1589,3324
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,999,1.58,146.6,95.9,0.0,102,1129,2.05,2.70,115.75,0.676,4,0.073,0.084,3190,190,2725
$GC,1220,1.61,171.3,81.5,8.9,121,1248,0.00,2.53,20.70,0.647,6,0.000,0.047,3190,1604,2625
$GC,1574,1.67,215.5,52.6,8.0,154,1622,0.10,2.83,36.60,0.657,4,0.057,0.083,3218,191,2444
$GC,1694,1.67,215.5,40.4,10.7,164,1702,0.00,2.53,0.00,0.000,6,0.000,0.047,3218,1601,2441
$GC,1892,1.67,215.5,21.0,10.1,183,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1601,2440
$GC,2093,1.73,264.2,2.6,7.8,218,2108,0.00,0.00,12.98,0.606,2,0.000,0.000,3218,1601,2378
$STATE,2109,end climb,SURFACE_DEPTH_REACHED
$STATE,2109,begin surface coast
$FINISH,0.3,1.008410
$STATE,2136,end surface coast,CONTROL_FINISHED_OK
$STATE,2138,begin surface
$SM_CCo,2162,71.72,0.621,0,0,1795,375.06
$SM_GC,1.23,0.00,0.00,71.72,0.000,0.000,0.621,410,1983,1795,-11.22,0.23,375.06
$IRIDIUM_FIX,4751.72,-12223.57,060698,111135
$TT8_MAMPS,0.102011
$HUMID,1600
$INTERNAL_PRESSURE,6.91433
$TCM_TEMP,19.60
$XPDR_PINGS,-1
$24V_AH,23.7,28.002
$10V_AH,10.0,12.682
$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,28.850,27.425,302.275,71.725,0.000,93.028,26.939,199.180,0.000,0.000,109.988,14.522,460.893,960.084,438.950,442.544,466.292,33.331,722.323,0.000,413.138,0.000,5.710,0.000
$DEVICE_MAMPS,181.779,83.603,709.475,621.270,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,162.660,0.000,0.000,0.000,0.000,0.000,36.197,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6472,225
$CAP_FILE_SIZE,59079,0
$CFSIZE,260165632,257548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,123702,4808.056,-12224.901,10,2.0,10,18.4