version: 66.04
glider: 116
mission: 16
dive: 33
start: 3 12 109 20 38 36
data:
$ID,116
$MISSION,16
$DIVE,33
$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,-52649.582
$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,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
$GPS1,203152,4805.135,-12221.072,9,6.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.0
$GPS2,203735,4805.122,-12221.054,11,3.8,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.125,0.228
$KALMAN_X,2434.1,110.0,-26.6,-113.1,-101.5
$KALMAN_Y,-482.4,94.5,-112.2,-4518.4,43.1
$MHEAD_RNG_PITCHd_Wd,313.1,4229,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,93,0.00,0.00,-73.25,0.000,2,0.000,0.000,130,2353,3890
$GC,96,-1.64,-146.6,3.9,-6.9,11,118,15.38,0.00,-1.98,0.000,6,0.196,0.000,2609,2353,3979
$GC,191,-1.64,-146.6,21.8,-11.5,26,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2353,3981
$GC,382,-1.64,-146.6,42.6,-11.2,44,387,0.00,2.65,0.00,0.000,4,0.000,0.073,2609,3751,3980
$GC,455,-1.64,-146.6,51.0,-12.1,50,459,0.00,2.50,0.00,0.000,6,0.000,0.040,2609,2344,3980
$GC,785,-1.64,-146.6,85.2,-9.8,81,790,0.00,2.67,0.00,0.000,4,0.000,0.072,2609,3748,3980
$GC,832,-1.64,-146.6,90.2,-11.7,84,840,0.00,2.47,0.00,0.000,6,0.000,0.040,2608,2349,3980
$STATE,1006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1006,begin apogee
$GC,1011,-0.42,0.0,108.5,10.2,101,1201,1.38,0.00,174.85,0.697,6,0.095,0.000,2884,1942,3377
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1204,1.64,146.6,114.9,0.0,120,1383,2.03,2.65,165.68,0.671,4,0.054,0.066,3336,552,2765
$GC,1635,1.64,146.6,77.1,11.1,157,1643,0.00,2.50,0.00,0.000,6,0.000,0.041,3337,1953,2782
$GC,1960,1.64,146.6,42.4,10.5,188,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1953,2784
$GC,2151,1.64,146.6,22.2,10.8,206,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1953,2785
$GC,2351,1.68,185.4,2.9,8.2,239,2366,0.00,0.00,12.95,0.617,2,0.000,0.000,3337,1953,2736
$STATE,2366,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,0.3,1.001886
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2396,begin surface
$SM_CCo,2422,92.57,0.632,0,0,2053,325.02
$SM_GC,1.15,0.00,0.00,92.57,0.000,0.000,0.632,132,2352,2053,-13.08,0.06,325.02
$IRIDIUM_FIX,4732.49,-12356.51,060698,191909
$TT8_MAMPS,0.09971
$HUMID,1552
$INTERNAL_PRESSURE,10.5473
$TCM_TEMP,18.60
$XPDR_PINGS,-1
$24V_AH,23.7,27.094
$10V_AH,10.0,9.574
$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,33.300,16.900,353.475,92.575,0.000,23.818,27.837,153.459,0.000,0.000,32.599,31.743,496.449,1065.272,485.851,504.038,334.128,33.339,783.831,0.000,447.371,0.000,18.310,0.000
$DEVICE_MAMPS,195.585,72.865,697.203,632.008,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,162.942,0.000,0.000,0.000,0.000,0.000,7.446,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,6464,246
$CAP_FILE_SIZE,63979,0
$CFSIZE,260034560,257110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120309,212134,4805.433,-12221.162,7,3.0,26,18.3