version: 66.04
glider: 116
mission: 17
dive: 38
start: 4 10 109 1 53 7
data:
$ID,116
$MISSION,17
$DIVE,38
$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,45
$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,500
$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,-54657.898
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,25
$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
$GPS1,014816,4807.682,-12223.555,10,3.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.2
$GPS2,015204,4807.710,-12223.580,13,3.1,32,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.244
$KALMAN_X,892.0,-331.4,-80.9,-697.9,51.2
$KALMAN_Y,-782.3,274.0,83.4,594.9,77.1
$MHEAD_RNG_PITCHd_Wd,141.7,1498,-17.5,-10.000
$D_GRID,105
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.64,-146.6,0.0,0.0,0,69,0.00,0.00,-52.78,0.000,2,0.000,0.000,135,1995,2511
$GC,71,-1.64,-146.6,3.2,-6.6,10,131,15.55,2.65,-34.67,0.000,4,0.196,0.074,2622,3399,3777
$GC,165,-1.64,-146.6,9.4,-8.4,27,171,0.00,2.50,0.00,0.000,6,0.000,0.040,2623,1990,3777
$GC,238,-1.64,-146.6,15.9,-9.3,40,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1990,3778
$GC,315,-1.64,-146.6,23.0,-9.3,51,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1990,3778
$GC,506,-1.64,-146.6,41.3,-9.6,69,510,0.00,2.58,0.00,0.000,4,0.000,0.061,2623,588,3778
$GC,526,-1.64,-146.6,43.3,-9.3,70,533,0.00,2.50,0.00,0.000,6,0.000,0.040,2623,2000,3778
$GC,724,-1.64,-146.6,61.5,-9.1,89,728,0.00,2.60,0.00,0.000,4,0.000,0.058,2623,585,3778
$GC,755,-1.64,-146.6,64.7,-10.0,91,762,0.00,2.55,0.00,0.000,6,0.000,0.040,2623,2002,3778
$GC,1080,-1.64,-146.6,94.5,-9.4,122,1084,0.00,2.60,0.00,0.000,4,0.000,0.059,2623,588,3778
$GC,1123,-1.64,-146.6,98.8,-9.8,125,1130,0.00,2.50,0.00,0.000,6,0.000,0.039,2623,1999,3778
$STATE,1191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1196,-0.42,0.0,105.3,9.1,132,1374,1.35,0.00,170.65,0.686,6,0.094,0.000,2893,2250,3178
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,1.64,146.6,110.8,0.0,150,1557,2.05,2.72,169.10,0.651,4,0.058,0.073,3345,3648,2580
$GC,1670,1.64,146.6,87.7,11.8,177,1676,0.00,2.50,0.00,0.000,6,0.000,0.039,3345,2241,2579
$GC,1994,1.64,146.6,52.0,10.7,208,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2241,2579
$GC,2313,1.64,146.6,17.4,10.6,240,2319,0.00,2.65,0.00,0.000,4,0.000,0.069,3345,3648,2577
$GC,2572,1.91,366.5,5.5,-0.1,286,2680,0.20,2.45,100.78,0.630,2,0.055,0.038,3403,2246,2099
$STATE,2680,end climb,SURFACE_DEPTH_REACHED
$STATE,2681,begin surface coast
$FINISH,3.6,1.018954
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2702,begin surface
$SM_CCo,2725,152.88,0.601,0,0,1139,500.17
$SM_GC,1.15,0.00,0.00,152.88,0.000,0.000,0.601,132,1993,1139,-13.12,-0.23,500.17
$IRIDIUM_FIX,4748.51,-12221.84,050798,010142
$TT8_MAMPS,0.026845
$HUMID,1728
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,34.877
$10V_AH,10.1,11.377
$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,34.700,31.700,440.525,152.875,0.000,31.023,39.984,69.351,0.000,0.000,0.000,32.957,453.311,1298.331,626.117,568.674,191.243,33.321,981.305,0.000,524.052,0.000,19.166,0.000
$DEVICE_MAMPS,195.585,74.399,686.465,601.328,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,203.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9601,310
$CAP_FILE_SIZE,37462,0
$CFSIZE,260034560,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,024150,4807.508,-12223.296,9,1.9,9,18.3