version: 66.04
glider: 116
mission: 17
dive: 16
start: 4 9 109 8 9 33
data:
$ID,116
$MISSION,17
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,55
$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,450
$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,-54081.695
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,2985
$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,2000
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,740
$VBD_MAX,3990
$C_VBD,3178
$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,-0.23661056
$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
$GPS1,080132,4807.867,-12224.289,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.5
$GPS2,080831,4807.813,-12224.201,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,0.187
$KALMAN_X,1334.2,418.2,206.6,-2942.9,-2.2
$KALMAN_Y,-2055.2,-611.2,-262.9,3296.5,-42.3
$MHEAD_RNG_PITCHd_Wd,14.5,425,-21.0,-10.000
$D_GRID,103
$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,-1.88,-104.3,0.0,0.0,0,76,0.00,0.00,-58.62,0.000,2,0.000,0.000,133,2016,2729
$GC,78,-1.93,-146.6,3.3,-6.5,11,124,14.80,2.67,-24.90,0.000,4,0.186,0.067,2560,595,3778
$GC,303,-1.93,-146.6,28.8,-12.4,45,308,0.00,2.50,0.00,0.000,6,0.000,0.041,2560,1999,3779
$GC,500,-1.93,-146.6,52.5,-12.4,63,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1999,3779
$GC,824,-1.93,-146.6,90.2,-11.9,93,829,0.00,2.60,0.00,0.000,4,0.000,0.059,2560,588,3779
$GC,890,-1.93,-146.6,99.0,-12.0,98,897,0.00,2.55,0.00,0.000,6,0.000,0.041,2560,2003,3779
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,927,begin apogee
$GC,931,-0.42,0.0,103.2,11.7,102,1110,1.67,0.00,171.85,0.679,6,0.100,0.000,2890,2211,3178
$STATE,1111,end apogee,CONTROL_FINISHED_OK
$STATE,1111,begin climb
$GC,1112,1.93,146.6,108.7,0.0,120,1293,2.35,2.67,170.02,0.650,4,0.058,0.071,3406,3610,2579
$GC,1406,1.93,146.6,81.6,13.5,147,1412,0.00,2.50,0.00,0.000,6,0.000,0.040,3406,2204,2578
$GC,1729,1.93,146.6,39.0,12.6,178,1734,0.00,2.65,0.00,0.000,4,0.000,0.067,3406,3615,2578
$GC,1818,1.93,146.6,27.1,12.9,185,1825,0.00,2.50,0.00,0.000,6,0.000,0.040,3406,2204,2578
$GC,2024,2.09,281.7,6.4,1.3,217,2152,0.15,2.72,117.53,0.621,4,0.064,0.065,3440,3613,2029
$GC,2158,2.25,407.2,4.6,1.9,242,2181,0.00,2.53,18.15,0.572,2,0.000,0.040,3440,2199,1950
$STATE,2182,end climb,SURFACE_DEPTH_REACHED
$STATE,2182,begin surface coast
$FINISH,0.0,1.010255
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2350,92.75,0.600,0,0,1343,450.13
$SM_GC,1.19,0.00,0.00,92.75,0.000,0.000,0.600,131,1984,1343,-13.13,-0.45,450.13
$IRIDIUM_FIX,4748.51,-12226.29,040798,070735
$TT8_MAMPS,0.026845
$HUMID,1733
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,32.434
$10V_AH,10.1,10.888
$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,33.925,26.650,477.550,92.750,0.000,28.440,31.631,239.563,0.000,0.000,61.317,16.000,391.134,1017.392,576.569,530.898,374.154,33.315,912.263,0.000,484.858,0.000,17.426,0.000
$DEVICE_MAMPS,186.381,71.331,678.795,599.794,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,177.187,0.000,0.000,0.000,0.000,0.000,8.297,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6460,272
$CAP_FILE_SIZE,38547,0
$CFSIZE,260034560,257388544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,085102,4808.024,-12224.098,10,1.9,10,18.3