version: 66.04
glider: 116
mission: 16
dive: 16
start: 3 12 109 7 32 10
data:
$ID,116
$MISSION,16
$DIVE,16
$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,-52290.656
$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,21
$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
$GPS1,072606,4805.953,-12221.365,35,0.9,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.1
$GPS2,073108,4805.943,-12221.355,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.223,0.134
$KALMAN_X,1124.4,250.0,171.8,483.1,133.6
$KALMAN_Y,-1072.8,-247.4,-89.6,-2088.6,17.2
$MHEAD_RNG_PITCHd_Wd,282.7,2822,-17.5,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,86,0.00,0.00,-66.40,0.000,2,0.000,0.000,133,2249,3470
$GC,88,-1.64,-146.6,3.0,-6.1,10,124,15.40,2.65,-12.38,0.000,4,0.193,0.081,2635,3655,3978
$GC,203,-1.64,-146.6,17.5,-11.0,29,210,0.00,2.53,0.00,0.000,6,0.000,0.039,2636,2240,3978
$GC,280,-1.64,-146.6,25.8,-10.7,38,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2240,3978
$GC,473,-1.64,-146.6,44.9,-10.5,56,477,0.00,2.67,0.00,0.000,4,0.000,0.071,2636,3652,3978
$GC,573,-1.64,-146.6,55.6,-10.4,64,580,0.00,2.50,0.00,0.000,6,0.000,0.040,2636,2245,3978
$GC,899,-1.64,-146.6,86.8,-9.5,95,903,0.00,2.65,0.00,0.000,4,0.000,0.071,2636,3649,3978
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,942,-0.42,0.0,90.2,9.8,97,1129,1.33,0.00,176.35,0.693,6,0.095,0.000,2905,1953,3379
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1131,1.64,146.6,97.5,0.0,116,1311,2.03,2.67,168.82,0.658,4,0.051,0.065,3362,547,2780
$GC,1438,1.64,146.6,71.2,13.2,142,1446,0.00,2.55,0.00,0.000,6,0.000,0.040,3362,1951,2779
$GC,1764,1.64,146.6,33.5,11.2,173,1768,0.00,2.62,0.00,0.000,4,0.000,0.061,3362,546,2778
$GC,1829,1.64,146.6,25.8,11.7,178,1837,0.00,2.53,0.00,0.000,6,0.000,0.040,3362,1947,2779
$GC,2035,1.64,146.6,4.1,11.4,210,2042,0.00,2.62,0.00,0.000,4,0.000,0.063,3362,544,2778
$STATE,2057,end climb,SURFACE_DEPTH_REACHED
$STATE,2057,begin surface coast
$FINISH,0.3,1.005382
$STATE,2075,end surface coast,CONTROL_FINISHED_OK
$STATE,2075,begin surface
$SM_CCo,2102,128.15,0.625,0,0,1849,375.06
$SM_GC,1.07,0.00,0.00,128.15,0.000,0.000,0.625,134,2246,1849,-13.18,-0.11,375.06
$IRIDIUM_FIX,4748.51,-12217.40,060698,060608
$TT8_MAMPS,0.102778
$HUMID,1537
$INTERNAL_PRESSURE,10.5375
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,25.144
$10V_AH,10.0,9.057
$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,33.425,32.175,345.175,128.150,0.000,22.582,25.883,150.750,0.000,0.000,39.154,12.408,443.034,858.369,534.882,435.155,291.185,33.321,813.352,0.000,401.787,0.000,13.818,0.000
$DEVICE_MAMPS,192.517,81.302,693.368,625.105,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,142.849,0.000,0.000,0.000,0.000,0.000,32.186,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6435,217
$CAP_FILE_SIZE,54182,0
$CFSIZE,260034560,257835008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,081008,4806.170,-12221.541,12,1.2,12,18.3