version: 66.04
glider: 116
mission: 16
dive: 41
start: 3 13 109 3 5 23
data:
$ID,116
$MISSION,16
$DIVE,41
$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,-52799.551
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,025937,4807.027,-12222.913,7,1.3,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.4
$GPS2,030420,4807.010,-12222.909,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.199
$KALMAN_X,3408.5,-19.8,120.0,-3398.8,77.4
$KALMAN_Y,-13.4,113.3,155.5,-1775.8,-44.8
$MHEAD_RNG_PITCHd_Wd,301.6,2276,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.64,-146.6,0.0,0.0,0,79,0.00,0.00,-60.40,0.000,2,0.000,0.000,131,2351,3565
$GC,82,-1.64,-146.6,3.3,-3.7,9,118,15.40,2.72,-10.10,0.000,4,0.196,0.085,2611,3751,3975
$GC,193,-1.64,-146.6,19.5,-11.4,27,200,0.00,2.50,0.00,0.000,6,0.000,0.040,2611,2339,4014
$GC,262,-1.64,-146.6,27.2,-10.9,34,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2339,4015
$GC,453,-1.64,-146.6,48.5,-11.0,52,457,0.00,2.70,0.00,0.000,4,0.000,0.073,2611,3757,4015
$GC,492,-1.64,-146.6,53.0,-12.0,55,496,0.00,2.50,0.00,0.000,6,0.000,0.040,2611,2342,4015
$GC,816,-1.64,-146.6,88.5,-10.6,85,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2341,4016
$STATE,974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,978,-0.42,0.0,105.0,10.6,100,1169,1.35,0.00,183.68,0.700,6,0.096,0.000,2880,1947,3377
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1172,1.64,146.6,111.6,0.0,119,1354,2.03,2.67,170.07,0.666,4,0.055,0.064,3335,557,2744
$GC,1586,1.64,146.6,77.4,10.6,155,1590,0.00,2.50,0.00,0.000,6,0.000,0.041,3335,1958,2770
$GC,1911,1.64,146.6,44.3,10.2,185,1915,0.00,2.62,0.00,0.000,4,0.000,0.062,3335,552,2772
$GC,1940,1.64,146.6,41.0,11.2,187,1944,0.00,2.50,0.00,0.000,6,0.000,0.041,3335,1959,2769
$GC,2137,1.64,146.6,20.0,11.1,205,2142,0.00,2.62,0.00,0.000,4,0.000,0.061,3335,543,2769
$GC,2154,1.64,146.6,18.2,10.9,207,2161,0.00,2.50,0.00,0.000,6,0.000,0.040,3335,1952,2770
$GC,2229,1.64,146.6,10.2,10.1,220,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1952,2770
$GC,2303,1.71,206.6,4.1,7.2,233,2338,0.00,0.00,33.28,0.636,2,0.000,0.000,3335,1952,2617
$STATE,2339,end climb,SURFACE_DEPTH_REACHED
$STATE,2339,begin surface coast
$FINISH,0.2,1.002242
$STATE,2366,end surface coast,CONTROL_FINISHED_OK
$STATE,2366,begin surface
$SM_CCo,2389,75.05,0.627,0,0,2052,325.02
$SM_GC,1.28,0.00,0.00,75.05,0.000,0.000,0.627,132,2350,2052,-13.07,0.00,325.02
$IRIDIUM_FIX,4754.94,-12507.46,070698,020200
$TT8_MAMPS,0.104312
$HUMID,1525
$INTERNAL_PRESSURE,10.557
$TCM_TEMP,18.80
$XPDR_PINGS,-1
$24V_AH,23.7,27.952
$10V_AH,10.0,9.806
$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,33.350,27.275,387.025,75.050,0.000,22.489,27.933,124.402,0.000,0.000,18.434,12.670,490.570,1017.706,492.352,473.214,304.347,33.336,799.864,0.000,436.997,0.000,18.200,0.000
$DEVICE_MAMPS,196.352,85.137,699.504,626.639,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,160.468,0.000,0.000,0.000,0.000,0.000,34.562,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6450,243
$CAP_FILE_SIZE,69195,0
$CFSIZE,260034560,256765952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,034713,4807.234,-12223.035,9,1.9,9,18.3