version: 66.04
glider: 116
mission: 17
dive: 41
start: 4 10 109 4 39 41
data:
$ID,116
$MISSION,17
$DIVE,41
$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,-54739.598
$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,27
$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
$GPS1,043507,4806.980,-12222.949,41,1.0,41,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-69.5
$GPS2,043837,4806.988,-12222.926,10,1.0,15,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.180,0.188
$KALMAN_X,1095.0,-238.3,104.2,-372.7,110.4
$KALMAN_Y,-571.8,250.2,158.2,-999.7,-17.3
$MHEAD_RNG_PITCHd_Wd,298.0,2297,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.64,-146.6,0.0,0.0,0,91,0.00,0.00,-73.90,0.000,2,0.000,0.000,135,2006,2642
$GC,93,-1.64,-146.6,3.3,-6.4,14,143,15.40,2.62,-25.35,0.000,4,0.192,0.067,2624,598,3777
$GC,222,-1.64,-146.6,16.1,-9.7,37,228,0.00,2.47,0.00,0.000,6,0.000,0.039,2624,1998,3778
$GC,294,-1.64,-146.6,23.0,-9.5,47,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1998,3777
$GC,485,-1.64,-146.6,42.0,-9.9,65,489,0.00,2.58,0.00,0.000,4,0.000,0.057,2625,596,3778
$GC,535,-1.64,-146.6,47.2,-10.3,69,539,0.00,2.50,0.00,0.000,6,0.000,0.040,2624,2007,3778
$GC,732,-1.64,-146.6,66.1,-9.3,87,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2006,3778
$GC,1051,-1.64,-146.6,96.1,-9.1,117,1056,0.00,2.60,0.00,0.000,4,0.000,0.058,2624,593,3778
$GC,1140,-1.64,-146.6,104.9,-9.5,124,1146,0.00,2.50,0.00,0.000,6,0.000,0.039,2624,2005,3778
$STATE,1155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1155,begin apogee
$GC,1159,-0.42,0.0,106.4,9.6,126,1338,1.35,0.00,171.52,0.677,6,0.095,0.000,2893,2256,3177
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1341,1.64,146.6,111.8,0.0,144,1522,2.03,2.72,169.20,0.648,4,0.059,0.071,3341,3655,2580
$GC,1673,1.64,146.6,83.7,11.6,175,1677,0.00,2.50,0.00,0.000,6,0.000,0.039,3341,2249,2579
$GC,1998,1.64,146.6,47.9,10.9,205,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2249,2578
$GC,2188,1.64,146.6,28.1,10.5,223,2192,0.00,2.62,0.00,0.000,4,0.000,0.067,3341,3647,2578
$GC,2231,1.64,146.6,23.5,10.8,226,2237,0.00,2.50,0.00,0.000,6,0.000,0.038,3341,2250,2578
$GC,2438,1.88,345.4,7.0,0.9,260,2624,0.20,2.62,175.52,0.618,4,0.053,0.057,3392,839,1768
$STATE,2662,end climb,SURFACE_DEPTH_REACHED
$STATE,2662,begin surface coast
$FINISH,0.1,1.008565
$STATE,2826,end surface coast,CONTROL_FINISHED_OK
$STATE,2826,begin surface
$SM_CCo,2850,102.60,0.597,0,0,1139,500.17
$SM_GC,0.94,0.00,0.00,102.60,0.000,0.000,0.597,135,2007,1139,-13.11,0.20,500.17
$IRIDIUM_FIX,4748.51,-12226.29,050798,030310
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,10.7035
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,35.236
$10V_AH,10.1,11.450
$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,33.825,30.800,516.250,102.600,0.000,30.630,25.602,82.913,0.000,0.000,0.000,15.367,465.138,1307.914,630.000,599.848,192.428,33.330,1018.222,0.000,571.504,0.000,18.220,0.000
$DEVICE_MAMPS,191.750,70.564,677.261,597.493,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,216.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9605,331
$CAP_FILE_SIZE,38530,0
$CFSIZE,260034560,256790528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,052943,4807.074,-12223.122,8,1.6,13,18.3