version: 66.04
glider: 116
mission: 16
dive: 51
start: 3 13 109 10 59 40
data:
$ID,116
$MISSION,16
$DIVE,51
$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,-53050.012
$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,25
$R_STBD_OVSHOOT,23
$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,0
$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
$GPS1,105506,4808.082,-12223.886,14,1.3,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.1
$GPS2,105837,4808.084,-12223.851,13,1.2,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.156
$KALMAN_X,4497.0,241.3,-13.7,-5776.9,-34.0
$KALMAN_Y,743.4,62.7,-22.2,-316.0,151.5
$MHEAD_RNG_PITCHd_Wd,187.8,242,-27.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-2.35,-63.1,0.0,0.0,0,80,0.00,0.00,-63.78,0.000,2,0.000,0.000,131,2349,3623
$GC,83,-2.40,-107.1,3.3,-5.3,12,107,14.50,2.70,-4.28,0.000,4,0.198,0.080,2446,3749,3818
$GC,358,-2.40,-107.1,53.0,-16.3,44,365,0.00,2.50,0.00,0.000,6,0.000,0.039,2446,2350,3825
$GC,684,-2.40,-107.1,103.1,-15.4,75,688,0.00,2.65,0.00,0.000,4,0.000,0.071,2446,3749,3825
$STATE,698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,698,begin apogee
$GC,705,-0.42,0.0,105.5,15.0,76,843,2.25,0.00,132.27,0.700,6,0.123,0.000,2879,1943,3378
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,844,begin climb
$GC,845,2.40,107.1,110.5,0.0,90,981,2.60,2.70,122.43,0.673,4,0.053,0.063,3460,548,2949
$GC,1199,2.40,107.1,75.2,13.3,122,1210,0.00,2.53,4.55,0.479,6,0.000,0.040,3460,1951,2941
$GC,1535,2.40,107.1,34.3,11.7,154,1539,0.00,2.58,0.00,0.000,4,0.000,0.061,3460,3353,2940
$GC,1613,2.40,107.1,24.9,12.0,161,1617,0.00,2.50,0.00,0.000,6,0.000,0.041,3460,1950,2941
$GC,1819,2.43,129.4,2.8,7.6,193,1837,0.00,0.00,15.52,0.617,2,0.000,0.000,3460,1950,2870
$STATE,1837,end climb,SURFACE_DEPTH_REACHED
$STATE,1837,begin surface coast
$FINISH,1.5,1.021810
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1888,102.72,0.627,0,0,2053,325.02
$SM_GC,1.42,0.00,0.00,102.72,0.000,0.000,0.627,131,2355,2053,-13.08,0.14,325.02
$IRIDIUM_FIX,4748.51,-12226.29,070698,101056
$TT8_MAMPS,0.026845
$HUMID,1519
$INTERNAL_PRESSURE,10.5668
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,28.911
$10V_AH,10.1,10.039
$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,35.175,22.175,274.775,102.725,0.000,26.274,27.389,84.986,0.000,0.000,0.000,13.078,336.022,872.385,419.032,419.211,188.066,33.330,675.851,0.000,397.150,0.000,18.216,0.000
$DEVICE_MAMPS,197.886,79.768,699.504,626.639,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,132.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6451,201
$CAP_FILE_SIZE,28293,0
$CFSIZE,260034560,256507904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,113338,4808.014,-12224.078,11,1.7,11,18.3