version: 66.04
glider: 116
mission: 17
dive: 22
start: 4 9 109 13 13 11
data:
$ID,116
$MISSION,17
$DIVE,22
$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,-54239.121
$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,24
$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,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
$GPS1,130815,4807.572,-12222.995,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.4
$GPS2,131208,4807.639,-12223.024,12,1.8,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.060,-0.253
$KALMAN_X,1650.8,212.3,-73.4,-1324.1,-3.7
$KALMAN_Y,-1437.5,-176.3,179.4,1474.7,243.7
$MHEAD_RNG_PITCHd_Wd,148.4,3290,-17.5,-10.000
$D_GRID,107
$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,-1.64,-146.6,0.0,0.0,0,75,0.00,0.00,-58.45,0.000,2,0.000,0.000,133,1990,2877
$GC,77,-1.64,-146.6,3.1,-5.1,11,121,15.32,0.00,-24.42,0.000,6,0.190,0.000,2624,1990,3778
$GC,189,-1.64,-146.6,11.9,-7.9,31,195,0.00,2.58,0.00,0.000,4,0.000,0.060,2624,594,3778
$GC,202,-1.64,-146.6,13.0,-8.8,33,208,0.00,2.50,0.00,0.000,6,0.000,0.041,2624,2003,3778
$GC,275,-1.64,-146.6,19.8,-9.8,46,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2002,3778
$GC,344,-1.64,-146.6,26.4,-9.5,53,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2003,3778
$GC,536,-1.64,-146.6,44.5,-9.3,71,540,0.00,2.60,0.00,0.000,4,0.000,0.059,2624,597,3778
$GC,619,-1.64,-146.6,52.7,-10.8,78,623,0.00,2.47,0.00,0.000,6,0.000,0.040,2624,1998,3778
$GC,949,-1.64,-146.6,84.5,-9.7,109,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1999,3778
$STATE,1190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1195,-0.42,0.0,107.6,9.6,132,1374,1.33,0.00,171.15,0.691,6,0.093,0.000,2889,2223,3178
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1377,1.64,146.6,113.1,0.0,150,1557,2.03,2.70,169.32,0.657,4,0.059,0.071,3340,3611,2580
$GC,1670,1.64,146.6,90.3,11.6,177,1675,0.00,2.50,0.00,0.000,6,0.000,0.040,3340,2208,2578
$GC,1994,1.64,146.6,56.4,10.2,208,1998,0.00,2.65,0.00,0.000,4,0.000,0.068,3340,3616,2578
$GC,2066,1.64,146.6,48.3,11.1,214,2070,0.00,2.50,0.00,0.000,6,0.000,0.040,3340,2204,2578
$GC,2268,1.64,146.6,26.7,10.5,233,2272,0.00,2.65,0.00,0.000,4,0.000,0.067,3340,3615,2577
$GC,2299,1.64,146.6,23.1,10.8,235,2306,0.00,2.53,0.00,0.000,6,0.000,0.039,3340,2206,2578
$GC,2507,1.79,267.6,4.6,4.4,269,2593,0.15,0.00,82.97,0.635,2,0.058,0.000,3376,2206,2181
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,2.5,1.018597
$STATE,2790,end surface coast,CONTROL_FINISHED_OK
$STATE,2790,begin surface
$SM_CCo,2813,121.18,0.614,0,0,1343,450.13
$SM_GC,1.38,0.00,0.00,121.18,0.000,0.000,0.614,135,1992,1343,-13.11,-0.23,450.13
$IRIDIUM_FIX,4751.72,-12223.57,040798,121212
$TT8_MAMPS,0.026845
$HUMID,1730
$INTERNAL_PRESSURE,10.7133
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,33.089
$10V_AH,10.1,11.024
$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,34.125,26.450,423.450,121.175,0.000,25.021,32.987,108.534,0.000,0.000,0.000,12.664,482.058,1353.098,567.427,576.382,220.197,33.330,929.265,0.000,550.665,0.000,18.248,0.000
$DEVICE_MAMPS,190.216,70.564,691.067,613.600,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,211.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9569,320
$CAP_FILE_SIZE,38263,0
$CFSIZE,260034560,257241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,140306,4807.441,-12222.819,9,1.2,25,18.3