version: 66.04
glider: 116
mission: 16
dive: 40
start: 3 13 109 2 21 34
data:
$ID,116
$MISSION,16
$DIVE,40
$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,-52786.25
$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,28
$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
$GPS1,021521,4806.873,-12222.760,40,2.2,59,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.1
$GPS2,022031,4806.836,-12222.738,11,1.3,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.182,0.146
$KALMAN_X,3267.0,-32.6,116.8,-3030.2,60.2
$KALMAN_Y,-25.3,113.8,156.7,-2085.7,-6.4
$MHEAD_RNG_PITCHd_Wd,290.6,443,-19.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.80,-115.6,0.0,0.0,0,79,0.00,0.00,-60.80,0.000,2,0.000,0.000,131,2339,3564
$GC,82,-1.84,-146.6,3.0,-3.0,9,113,15.07,2.75,-9.50,0.000,4,0.195,0.084,2567,3748,3978
$GC,199,-1.84,-146.6,21.4,-13.9,28,203,0.00,2.47,0.00,0.000,6,0.000,0.040,2568,2350,3998
$GC,397,-1.84,-146.6,46.6,-12.5,46,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2350,4000
$GC,587,-1.84,-146.6,70.5,-12.6,64,591,0.00,2.65,0.00,0.000,4,0.000,0.073,2568,3747,4000
$GC,640,-1.84,-146.6,77.9,-13.3,68,648,0.00,2.50,0.00,0.000,6,0.000,0.039,2568,2347,3999
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,868,begin apogee
$GC,873,-0.42,0.0,106.0,12.1,90,1062,1.55,0.00,181.50,0.700,6,0.100,0.000,2878,1953,3378
$STATE,1063,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1065,1.84,146.6,112.7,0.0,109,1244,2.25,2.67,168.55,0.671,4,0.055,0.066,3378,545,2780
$GC,1441,1.84,146.6,76.9,13.3,141,1449,0.00,2.55,0.00,0.000,6,0.000,0.041,3378,1953,2773
$GC,1767,1.84,146.6,38.2,11.6,172,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1953,2779
$GC,1959,1.84,146.6,16.3,11.2,192,1966,0.00,2.62,0.00,0.000,4,0.000,0.062,3378,546,2778
$GC,1989,1.84,146.6,12.3,13.4,197,1996,0.00,2.50,0.00,0.000,6,0.000,0.041,3378,1955,2783
$GC,2065,1.88,183.6,5.1,7.8,210,2105,0.00,0.00,33.47,0.644,6,0.000,0.000,3378,1955,2628
$STATE,2109,end climb,SURFACE_DEPTH_REACHED
$STATE,2109,begin surface coast
$FINISH,0.3,1.009805
$STATE,2132,end surface coast,CONTROL_FINISHED_OK
$STATE,2132,begin surface
$SM_CCo,2158,76.85,0.626,0,0,2053,325.02
$SM_GC,1.33,0.00,0.00,76.85,0.000,0.000,0.626,131,2350,2053,-13.08,0.00,325.02
$IRIDIUM_FIX,4748.51,-12220.12,070698,010150
$TT8_MAMPS,0.055224
$HUMID,1521
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.7,27.849
$10V_AH,10.0,9.775
$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,33.675,22.150,383.525,76.850,0.000,30.931,39.279,130.133,0.000,0.000,3.804,16.233,439.969,889.246,493.650,433.943,317.757,33.337,773.177,0.000,394.869,0.000,20.024,0.000
$DEVICE_MAMPS,194.818,83.603,700.271,625.872,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,145.272,0.000,0.000,0.000,0.000,0.000,7.132,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6468,221
$CAP_FILE_SIZE,61321,0
$CFSIZE,260034560,256811008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,025937,4807.027,-12222.913,7,1.3,12,18.3