version: 66.04
glider: 116
mission: 16
dive: 9
start: 3 12 109 2 18 5
data:
$ID,116
$MISSION,16
$DIVE,9
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,375
$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,-52140.492
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3000
$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,2250
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$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
$GPS1,021156,4805.964,-12221.976,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.1
$GPS2,021702,4805.920,-12221.949,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.164,-0.202
$KALMAN_X,-80.3,-4.2,-21.0,1402.9,-11.2
$KALMAN_Y,-445.3,-150.4,-56.9,-2883.5,-50.5
$MHEAD_RNG_PITCHd_Wd,122.5,2070,-17.5,-10.000
$D_GRID,108
$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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.67,0.000,2,0.000,0.000,134,2252,3357
$GC,80,-1.64,-146.6,3.4,-7.1,9,117,15.35,2.60,-14.10,0.000,4,0.192,0.067,2636,845,3979
$GC,371,-1.64,-146.6,34.4,-10.3,47,375,0.00,2.53,0.00,0.000,6,0.000,0.043,2635,2253,3980
$GC,567,-1.64,-146.6,54.5,-10.1,65,572,0.00,2.65,0.00,0.000,4,0.000,0.073,2635,3659,3980
$GC,656,-1.64,-146.6,63.9,-10.6,72,664,0.00,2.53,0.00,0.000,6,0.000,0.041,2635,2238,3980
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,942,begin apogee
$GC,946,-0.42,0.0,90.6,9.0,99,1134,1.33,0.00,177.05,0.692,6,0.094,0.000,2904,1943,3378
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1136,1.64,146.6,95.8,0.0,118,1316,2.03,2.72,169.12,0.659,4,0.051,0.066,3360,544,2780
$GC,1563,1.64,146.6,54.5,11.3,155,1568,0.00,2.53,0.00,0.000,6,0.000,0.041,3360,1955,2778
$GC,1888,1.64,146.6,18.5,11.1,186,1896,0.00,2.60,0.00,0.000,4,0.000,0.063,3360,3361,2778
$GC,1941,1.64,146.6,12.9,11.1,195,1948,0.00,2.53,0.00,0.000,6,0.000,0.042,3360,1947,2777
$GC,2016,1.66,163.1,5.3,9.2,208,2038,0.00,2.65,14.82,0.615,4,0.000,0.064,3360,540,2713
$GC,2061,1.79,271.5,2.5,5.0,215,2084,0.15,2.53,17.02,0.607,2,0.059,0.040,3393,1954,2628
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,0.4,1.010478
$STATE,2163,end surface coast,CONTROL_FINISHED_OK
$STATE,2163,begin surface
$SM_CCo,2187,107.65,0.623,0,0,1849,375.06
$SM_GC,1.29,0.00,0.00,107.65,0.000,0.000,0.623,134,2251,1849,-13.18,0.03,375.06
$IRIDIUM_FIX,4748.51,-12226.29,060698,010146
$TT8_MAMPS,0.081302
$HUMID,1520
$INTERNAL_PRESSURE,10.5277
$TCM_TEMP,18.70
$XPDR_PINGS,-1
$24V_AH,23.7,24.365
$10V_AH,10.0,8.845
$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,33.675,26.900,378.025,107.650,0.000,23.233,30.362,152.521,0.000,0.000,33.090,14.436,464.442,871.347,526.871,475.701,292.962,33.326,821.656,0.000,439.170,0.000,14.664,0.000
$DEVICE_MAMPS,191.750,72.865,691.834,622.804,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,152.811,0.000,0.000,0.000,0.000,0.000,32.596,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6441,232
$CAP_FILE_SIZE,55252,0
$CFSIZE,260034560,258125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,025708,4805.694,-12221.697,13,1.5,13,18.3