version: 66.04
glider: 116
mission: 16
dive: 4
start: 3 11 109 22 27 58
data:
$ID,116
$MISSION,16
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,30
$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,-52046.949
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3015
$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,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,3378
$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,-0.077300362
$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,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,0.0043755369
$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
$GPS1,220616,4807.302,-12223.128,9,5.4,29,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-65.6
$GPS2,222658,4807.092,-12223.061,14,3.2,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.220
$KALMAN_X,40.6,33.6,35.8,-182.7,15.4
$KALMAN_Y,-113.3,-47.1,-30.8,-1173.1,-15.1
$MHEAD_RNG_PITCHd_Wd,129.4,2411,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,112,0.00,0.00,-92.22,0.000,2,0.000,0.000,136,2211,3636
$GC,115,-1.64,-146.6,3.9,-6.3,14,145,15.62,2.67,-7.10,0.000,4,0.194,0.073,2652,788,3979
$GC,340,-1.64,-146.6,30.6,-9.7,43,348,0.00,2.55,0.00,0.000,6,0.000,0.044,2652,2200,3981
$GC,538,-1.64,-146.6,48.2,-8.6,62,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,3981
$GC,729,-1.64,-146.6,65.2,-8.9,80,733,0.00,2.65,0.00,0.000,4,0.000,0.072,2652,3610,3981
$GC,783,-1.64,-146.6,70.5,-9.2,84,791,0.00,2.53,0.00,0.000,6,0.000,0.041,2652,2192,3981
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1016,begin apogee
$GC,1021,-0.42,0.0,90.5,8.7,106,1209,1.33,0.00,177.73,0.703,6,0.094,0.000,2920,1897,3378
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1212,1.64,146.6,96.8,0.0,125,1391,2.03,2.75,169.45,0.668,4,0.049,0.069,3378,495,2780
$GC,1609,1.64,146.6,58.8,13.3,159,1617,0.00,2.58,0.00,0.000,6,0.000,0.042,3378,1908,2779
$GC,1935,1.64,146.6,19.9,11.9,190,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1909,2778
$GC,2010,1.64,146.6,11.2,11.2,203,2017,0.00,2.58,0.00,0.000,4,0.000,0.061,3378,3304,2777
$GC,2047,1.64,146.6,7.2,10.3,209,2054,0.00,2.53,0.00,0.000,6,0.000,0.043,3378,1894,2777
$GC,2124,1.83,301.5,3.0,2.9,222,2192,0.15,0.00,65.15,0.638,2,0.063,0.000,3411,1894,2372
$STATE,2193,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,0.2,1.019647
$STATE,2261,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2286,147.65,0.622,0,0,1339,500.17
$SM_GC,1.04,0.00,0.00,147.65,0.000,0.000,0.622,135,2215,1339,-13.25,0.42,500.17
$IRIDIUM_FIX,4735.69,-12154.54,050698,222217
$TT8_MAMPS,0.08437
$HUMID,1516
$INTERNAL_PRESSURE,10.4789
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,23.791
$10V_AH,10.0,8.690
$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,34.025,21.925,412.325,147.650,0.000,75.461,147.910,767.305,0.000,0.000,88.145,34.588,471.746,932.071,618.417,525.072,1156.010,32.333,926.246,0.000,444.941,0.000,13.833,0.000
$DEVICE_MAMPS,194.051,72.865,703.339,622.037,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,159.849,0.000,0.000,0.000,0.000,0.000,50.249,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6444,244
$CAP_FILE_SIZE,75187,0
$CFSIZE,260034560,258322432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110309,230936,4806.904,-12222.931,19,0.8,29,18.3