version: 66.04
glider: 116
mission: 17
dive: 39
start: 4 10 109 2 46 19
data:
$ID,116
$MISSION,17
$DIVE,39
$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,-54688.098
$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,24
$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
$GPS1,024150,4807.508,-12223.296,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.9
$GPS2,024516,4807.538,-12223.309,9,3.5,28,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,-0.257
$KALMAN_X,949.4,-314.9,-25.0,-494.2,90.2
$KALMAN_Y,-640.0,268.7,119.7,102.6,90.3
$MHEAD_RNG_PITCHd_Wd,152.7,1066,-17.5,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-63.17,0.000,2,0.000,0.000,133,1992,2765
$GC,82,-1.64,-146.6,3.1,-6.1,12,126,15.55,0.00,-25.52,0.000,6,0.195,0.000,2624,1992,3777
$GC,193,-1.64,-146.6,12.2,-8.3,32,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1992,3778
$GC,266,-1.64,-146.6,18.7,-8.9,45,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1992,3778
$GC,336,-1.64,-146.6,25.4,-9.6,53,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1992,3778
$GC,527,-1.64,-146.6,43.9,-9.6,71,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1992,3777
$GC,718,-1.64,-146.6,62.1,-9.4,89,722,0.00,2.58,0.00,0.000,4,0.000,0.060,2624,595,3778
$GC,772,-1.64,-146.6,67.4,-9.7,93,779,0.00,2.50,0.00,0.000,6,0.000,0.041,2624,1999,3778
$GC,1097,-1.64,-146.6,98.3,-9.3,124,1101,0.00,2.60,0.00,0.000,4,0.000,0.059,2625,588,3778
$GC,1158,-1.64,-146.6,104.4,-10.1,129,1162,0.00,2.53,0.00,0.000,6,0.000,0.041,2624,2010,3778
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1198,-0.42,0.0,107.9,9.4,132,1376,1.35,0.00,171.00,0.681,6,0.095,0.000,2893,2261,3179
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,1.64,146.6,113.5,0.0,150,1560,2.03,2.70,169.35,0.653,4,0.058,0.071,3344,3648,2580
$GC,1682,1.64,146.6,88.4,12.1,178,1689,0.00,2.53,0.00,0.000,6,0.000,0.040,3344,2249,2579
$GC,2008,1.64,146.6,52.5,11.1,209,2012,0.00,2.65,0.00,0.000,4,0.000,0.069,3344,3655,2578
$GC,2046,1.64,146.6,48.1,12.0,212,2050,0.00,2.50,0.00,0.000,6,0.000,0.040,3344,2246,2578
$GC,2244,1.64,151.0,27.8,9.8,230,2253,0.00,0.00,6.20,0.538,6,0.000,0.000,3344,2246,2562
$GC,2451,1.67,173.3,7.4,9.0,260,2479,0.00,2.70,20.62,0.618,4,0.000,0.067,3344,3655,2471
$GC,2626,1.92,377.3,4.6,0.6,291,2707,0.28,2.50,74.85,0.624,2,0.055,0.038,3404,2240,2118
$STATE,2708,end climb,SURFACE_DEPTH_REACHED
$STATE,2708,begin surface coast
$FINISH,3.6,1.019107
$STATE,2881,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2881,begin surface
$SM_CCo,2904,147.43,0.606,0,0,1139,500.17
$SM_GC,0.98,0.00,0.00,147.43,0.000,0.000,0.606,134,1998,1139,-13.11,-0.06,500.17
$IRIDIUM_FIX,4754.94,-12541.66,050798,010121
$TT8_MAMPS,0.026845
$HUMID,1716
$INTERNAL_PRESSURE,10.6938
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,34.990
$10V_AH,10.1,11.401
$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,34.650,26.650,442.025,147.425,0.000,29.031,23.693,68.987,0.000,0.000,0.000,29.569,499.956,1382.524,616.267,615.323,175.320,33.322,992.509,0.000,572.803,0.000,18.219,0.000
$DEVICE_MAMPS,194.818,71.331,681.096,605.930,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,222.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9583,337
$CAP_FILE_SIZE,39836,0
$CFSIZE,260034560,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,033816,4807.274,-12223.107,9,2.1,28,18.3