version: 66.04
glider: 116
mission: 16
dive: 29
start: 3 12 109 17 19 22
data:
$ID,116
$MISSION,16
$DIVE,29
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,75
$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,325
$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,-52545.559
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2975
$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,2350
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$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
$GPS1,171255,4806.280,-12222.206,40,1.1,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.6
$GPS2,171820,4806.059,-12221.914,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.129,-0.226
$KALMAN_X,2631.2,298.9,-57.8,-1532.8,32.2
$KALMAN_Y,-571.5,123.5,11.4,-2845.4,-50.6
$MHEAD_RNG_PITCHd_Wd,131.9,2264,-17.5,-10.000
$D_GRID,108
$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,-1.64,-146.6,0.0,0.0,0,79,0.00,0.00,-60.10,0.000,2,0.000,0.000,133,2345,3541
$GC,82,-1.64,-146.6,3.1,-5.0,9,118,15.23,2.60,-10.02,0.000,4,0.192,0.064,2612,949,3979
$GC,146,-1.64,-146.6,13.1,-10.9,19,153,0.00,2.53,0.00,0.000,6,0.000,0.043,2612,2354,3980
$GC,225,-1.64,-146.6,21.7,-10.6,32,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2354,3980
$GC,417,-1.64,-146.6,42.5,-11.0,50,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2353,3980
$GC,609,-1.64,-146.6,62.6,-10.6,68,614,0.00,2.67,0.00,0.000,4,0.000,0.077,2612,3762,3980
$GC,675,-1.64,-146.6,70.2,-10.7,73,683,0.00,2.53,0.00,0.000,6,0.000,0.040,2612,2350,3980
$GC,1000,-1.64,-146.6,103.5,-10.7,104,1005,0.00,2.67,0.00,0.000,4,0.000,0.074,2612,3755,3980
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1050,-0.42,0.0,108.4,11.0,107,1238,1.33,0.00,177.40,0.697,6,0.097,0.000,2878,1954,3378
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,1.64,146.6,114.9,0.0,126,1420,2.03,2.67,168.52,0.665,4,0.054,0.066,3335,547,2780
$GC,1622,1.64,146.6,80.7,12.3,159,1626,0.00,2.50,0.00,0.000,6,0.000,0.041,3335,1957,2774
$GC,1946,1.64,146.6,44.3,10.5,189,1951,0.00,2.58,0.00,0.000,4,0.000,0.061,3335,3353,2771
$GC,1986,1.64,146.6,40.0,11.2,192,1990,0.00,2.50,0.00,0.000,6,0.000,0.040,3335,1948,2762
$GC,2182,1.64,146.6,19.6,10.7,210,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1948,2763
$GC,2257,1.65,153.6,12.0,9.7,223,2265,0.00,0.00,5.03,0.505,6,0.000,0.000,3335,1948,2751
$GC,2332,1.65,158.1,4.5,9.8,236,2347,0.00,2.65,5.55,0.521,4,0.000,0.063,3335,547,2683
$STATE,2368,end climb,SURFACE_DEPTH_REACHED
$STATE,2368,begin surface coast
$FINISH,0.4,1.021740
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2424,102.07,0.629,0,0,2053,325.02
$SM_GC,1.02,0.00,0.00,102.07,0.000,0.000,0.629,130,2347,2053,-13.09,-0.08,325.02
$IRIDIUM_FIX,4748.51,-12220.12,060698,161638
$TT8_MAMPS,0.101244
$HUMID,1519
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,26.660
$10V_AH,10.0,9.450
$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,33.100,32.450,356.500,102.075,0.000,22.705,24.522,168.936,0.000,0.000,45.079,12.252,508.062,1044.857,511.803,485.922,329.224,33.337,817.354,0.000,449.378,0.000,17.411,0.000
$DEVICE_MAMPS,191.750,76.700,697.203,628.940,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,163.431,0.000,0.000,0.000,0.000,0.000,7.322,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6468,247
$CAP_FILE_SIZE,65309,0
$CFSIZE,260034560,257294336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,180213,4805.729,-12221.657,9,1.5,9,18.3