version: 66.02
glider: 16
mission: 5
dive: 11
start: 10 9 107 5 11 21
data:
$ID,16
$MISSION,5
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,62.5
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2074031.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2285
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3224
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.028774
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,050626,4806.974,-12222.878,9,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.2
$GPS2,051033,4806.952,-12222.828,11,1.8,11,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,0.140
$KALMAN_X,2215.8,519.2,169.1,-2695.7,323.5
$KALMAN_Y,-2265.9,-725.9,-36.6,1744.8,56.4
$MHEAD_RNG_PITCHd_Wd,286.4,2422,-14.8,-8.000
$D_GRID,150
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.08,-146.6,0.0,0.0,0,123,0.00,0.00,-103.97,0.000,2,0.000,0.000,77,2455,3420
$GC,125,-1.08,-146.6,3.0,-2.3,19,149,11.10,0.00,-11.02,0.000,6,0.171,0.000,2043,2455,3822
$GC,217,-1.08,-146.6,9.5,-6.7,35,223,0.00,2.40,0.00,0.000,4,0.000,0.061,2042,3765,3821
$GC,313,-1.08,-146.6,18.9,-10.9,52,319,0.00,2.33,0.00,0.000,6,0.000,0.041,2043,2453,3821
$GC,388,-1.08,-146.6,26.1,-9.1,60,392,0.00,2.60,0.00,0.000,4,0.000,0.058,2042,1034,3820
$GC,431,-1.08,-146.6,30.0,-8.5,63,439,0.00,2.55,0.00,0.000,6,0.000,0.044,2043,2447,3820
$GC,629,-1.08,-146.6,47.8,-9.3,82,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2446,3819
$GC,825,-1.08,-146.6,64.6,-8.3,93,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2447,3819
$GC,1139,-1.08,-146.6,90.1,-8.1,108,1143,0.00,2.42,0.00,0.000,4,0.000,0.061,2043,3770,3818
$GC,1181,-1.08,-146.6,94.1,-7.8,110,1186,0.00,2.35,0.00,0.000,6,0.000,0.039,2042,2457,3818
$STATE,1408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1409,begin apogee
$GC,1412,-0.31,0.0,112.4,7.9,128,1531,0.85,0.00,110.20,0.740,6,0.091,0.000,2217,2393,3224
$STATE,1531,end apogee,CONTROL_FINISHED_OK
$STATE,1531,begin climb
$GC,1533,1.08,146.6,114.1,0.0,140,1651,1.40,0.00,110.85,0.708,6,0.057,0.000,2525,2394,2625
$GC,1970,1.08,146.6,55.7,14.6,169,1974,0.00,2.55,0.00,0.000,4,0.000,0.056,2525,996,2626
$GC,2031,1.08,146.6,46.8,14.2,172,2036,0.00,2.50,0.00,0.000,6,0.000,0.044,2525,2402,2626
$GC,2228,1.08,146.6,19.8,13.4,190,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2402,2627
$GC,2300,1.08,146.6,11.3,10.7,203,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2402,2627
$STATE,2366,end climb,SURFACE_DEPTH_REACHED
$STATE,2366,begin surface coast
$FINISH,2.0,1.018547
$STATE,2401,end surface coast,CONTROL_FINISHED_OK
$STATE,2401,begin surface
$SM_CCo,2418,290.50,0.625,3,0,533,660.10
$SM_GC,1.19,0.00,0.00,290.50,0.000,0.000,0.625,73,2456,533,-10.17,0.17,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2067
$TCM_TEMP,18.20
$XPDR_PINGS,156
$ALTIM_BOTTOM_PING,90.1,32.3
$24V_AH,23.8,5.687
$10V_AH,10.2,2.232
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.250,19.900,221.050,290.500,0.000,32.647,47.166,112.390,40.250,0.000,0.000,11.533,364.921,1314.782,611.891,477.278,219.941,33.328,880.860,0.000,475.651,0.000,10.062
$DEVICE_MAMPS,171.041,72.865,740.155,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,147.011,162.185,382.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9678,221
$CFSIZE,260165632,259129344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$GPS,091007,055747,4807.146,-12223.047,11,3.6,30,18.3