version: 66.02
glider: 16
mission: 5
dive: 12
start: 10 9 107 6 2 48
data:
$ID,16
$MISSION,5
$DIVE,12
$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,-2074077.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2275
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,055747,4807.146,-12223.047,11,3.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.7
$GPS2,060201,4807.123,-12222.991,39,0.9,44,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.205,0.134
$KALMAN_X,2825.8,502.5,125.6,-3448.8,493.9
$KALMAN_Y,-2716.5,-620.3,106.9,2265.1,-143.1
$MHEAD_RNG_PITCHd_Wd,284.9,2048,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-98.78,0.000,2,0.000,0.000,74,2457,3294
$GC,120,-1.08,-146.6,3.3,-3.4,18,149,11.18,0.00,-13.48,0.000,6,0.173,0.000,2034,2457,3821
$GC,216,-1.08,-146.6,11.4,-7.9,35,223,0.00,2.40,0.00,0.000,4,0.000,0.061,2034,3767,3821
$GC,318,-1.08,-146.6,22.4,-11.4,52,322,0.00,2.33,0.00,0.000,6,0.000,0.041,2034,2459,3820
$GC,514,-1.08,-146.6,40.9,-9.6,70,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2459,3819
$GC,703,-1.08,-146.6,58.6,-9.2,84,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2459,3818
$GC,1012,-1.08,-146.6,85.1,-8.4,99,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2459,3817
$GC,1325,-1.08,-146.6,110.7,-8.2,120,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2459,3817
$STATE,1335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1335,begin apogee
$GC,1339,-0.31,0.0,111.5,8.0,121,1457,0.85,0.00,110.32,0.727,6,0.094,0.000,2207,2383,3224
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1459,1.08,146.6,113.3,0.0,133,1578,1.35,0.00,110.62,0.722,6,0.061,0.000,2506,2383,2626
$GC,1897,1.08,146.6,60.0,13.0,162,1901,0.00,2.55,0.00,0.000,4,0.000,0.059,2506,994,2626
$GC,1996,1.08,146.6,46.7,13.1,167,2004,0.00,2.53,0.00,0.000,6,0.000,0.043,2506,2395,2627
$GC,2194,1.08,146.6,22.1,12.4,186,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2396,2627
$STATE,2371,end climb,SURFACE_DEPTH_REACHED
$STATE,2371,begin surface coast
$FINISH,2.2,1.019113
$STATE,2418,end surface coast,CONTROL_FINISHED_OK
$STATE,2418,begin surface
$SM_CCo,2434,297.05,0.624,4,0,532,660.10
$SM_GC,1.22,0.00,0.00,297.05,0.000,0.000,0.624,75,2452,532,-10.12,0.06,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2057
$TCM_TEMP,18.30
$XPDR_PINGS,141
$ALTIM_BOTTOM_PING,90.4,30.8
$24V_AH,23.8,5.796
$10V_AH,10.2,2.266
$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,24.200,10.025,220.950,297.050,0.000,32.659,42.393,86.875,36.500,0.000,0.000,44.901,360.471,1356.467,608.105,504.728,191.841,33.335,866.042,0.000,470.384,0.000,10.057
$DEVICE_MAMPS,173.342,72.865,727.116,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,149.458,168.242,387.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9688,224
$CFSIZE,260165632,259104768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,091007,064921,4807.340,-12223.208,10,1.8,10,18.3