version: 66.04
glider: 116
mission: 16
dive: 32
start: 3 12 109 19 49 3
data:
$ID,116
$MISSION,16
$DIVE,32
$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,-52617.211
$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,22
$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,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
$GPS1,194249,4805.290,-12221.354,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.5
$GPS2,194801,4805.264,-12221.353,12,1.9,17,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.204,-0.161
$KALMAN_X,2424.0,182.5,-5.9,-563.9,-125.7
$KALMAN_Y,-567.4,99.7,-108.2,-4178.9,-6.1
$MHEAD_RNG_PITCHd_Wd,110.0,655,-17.5,-10.000
$D_GRID,109
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-73.72,0.000,2,0.000,0.000,134,2352,3890
$GC,96,-1.64,-146.6,3.9,-4.7,11,120,15.45,2.60,-1.88,0.000,4,0.197,0.065,2610,937,3980
$GC,328,-1.64,-146.6,38.3,-11.4,37,332,0.00,2.53,0.00,0.000,6,0.000,0.043,2610,2347,3988
$GC,524,-1.64,-146.6,59.5,-10.7,55,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2347,3989
$GC,843,-1.64,-146.6,92.8,-10.2,85,847,0.00,2.67,0.00,0.000,4,0.000,0.076,2611,3752,3989
$GC,928,-1.64,-146.6,102.2,-11.1,92,932,0.00,2.50,0.00,0.000,6,0.000,0.040,2611,2339,3988
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1000,-0.42,0.0,109.5,10.2,98,1190,1.35,0.00,179.10,0.702,6,0.096,0.000,2879,1946,3378
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1192,1.64,146.6,115.8,0.0,117,1370,2.05,2.72,163.05,0.668,4,0.055,0.064,3335,543,2774
$GC,1575,1.64,146.6,84.2,11.2,150,1579,0.00,2.53,0.00,0.000,6,0.000,0.041,3335,1957,2744
$GC,1899,1.64,146.6,48.8,10.4,180,1903,0.00,2.58,0.00,0.000,4,0.000,0.062,3335,3353,2763
$GC,1938,1.64,146.6,44.6,11.1,183,1942,0.00,2.50,0.00,0.000,6,0.000,0.040,3335,1949,2781
$GC,2135,1.64,146.6,23.8,10.2,201,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1948,2781
$GC,2335,1.66,167.9,4.4,9.0,233,2356,0.00,0.00,19.27,0.630,6,0.000,0.000,3335,1948,2693
$STATE,2360,end climb,SURFACE_DEPTH_REACHED
$STATE,2360,begin surface coast
$FINISH,0.8,1.021203
$STATE,2385,end surface coast,CONTROL_FINISHED_OK
$STATE,2385,begin surface
$SM_CCo,2408,95.18,0.630,0,0,2053,325.02
$SM_GC,1.17,0.00,0.00,95.18,0.000,0.000,0.630,129,2352,2053,-13.09,0.06,325.02
$IRIDIUM_FIX,4748.51,-12224.57,060698,191950
$TT8_MAMPS,0.105079
$HUMID,1533
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.7,26.989
$10V_AH,10.0,9.549
$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,33.825,22.075,361.425,95.175,0.000,24.072,23.883,150.327,0.000,0.000,31.370,17.350,495.194,1046.463,490.121,500.021,312.557,33.335,793.108,0.000,457.311,0.000,18.298,0.000
$DEVICE_MAMPS,197.119,75.933,701.805,630.474,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,159.643,0.000,0.000,0.000,0.000,0.000,35.259,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6425,241
$CAP_FILE_SIZE,65067,0
$CFSIZE,260034560,257155072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,203152,4805.135,-12221.072,9,6.2,28,18.3