version: 66.02
glider: 16
mission: 5
dive: 13
start: 10 9 107 6 53 37
data:
$ID,16
$MISSION,5
$DIVE,13
$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,80
$T_MISSION,100
$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,-2074092.2
$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,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
$GPS1,064921,4807.340,-12223.208,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.5
$GPS2,065245,4807.322,-12223.171,14,1.1,14,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.101
$KALMAN_X,3469.3,458.3,78.0,-4220.2,844.1
$KALMAN_Y,-3062.3,-488.4,182.4,2768.4,-341.1
$MHEAD_RNG_PITCHd_Wd,278.5,1621,-11.5,-6.250
$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,-0.88,-146.6,0.0,0.0,0,123,0.00,0.00,-104.18,0.000,2,0.000,0.000,76,2452,3450
$GC,125,-0.88,-146.6,3.5,-3.2,19,149,11.40,0.00,-8.48,0.000,6,0.173,0.000,2076,2452,3822
$GC,216,-0.88,-146.6,12.7,-6.6,35,223,0.00,2.40,0.00,0.000,4,0.000,0.064,2076,3762,3821
$GC,306,-0.88,-146.6,20.6,-9.1,51,311,0.00,2.33,0.00,0.000,6,0.000,0.041,2076,2459,3821
$GC,503,-0.88,-146.6,34.3,-7.0,69,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2459,3819
$GC,694,-0.88,-146.6,47.2,-6.5,87,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2459,3819
$GC,881,-0.88,-146.6,59.7,-6.6,98,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2459,3818
$GC,1190,-0.88,-146.6,79.7,-6.5,113,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2459,3818
$GC,1499,-0.88,-146.6,99.9,-6.6,128,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2459,3817
$STATE,1668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1668,begin apogee
$GC,1671,-0.31,0.0,110.7,6.1,143,1790,0.62,0.00,110.45,0.735,6,0.087,0.000,2205,2381,3223
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1792,0.88,146.6,112.4,0.0,155,1910,1.25,0.00,110.60,0.715,6,0.078,0.000,2469,2381,2626
$GC,2219,0.88,146.6,69.5,11.0,184,2224,0.00,2.55,0.00,0.000,4,0.000,0.058,2470,992,2626
$GC,2284,0.88,146.6,62.1,11.1,187,2290,0.00,2.55,0.00,0.000,6,0.000,0.042,2470,2395,2626
$GC,2607,0.88,146.6,28.1,10.0,212,2611,0.00,2.55,0.00,0.000,4,0.000,0.053,2469,993,2627
$GC,2680,0.88,146.6,20.7,9.4,218,2684,0.00,2.53,0.00,0.000,6,0.000,0.042,2470,2402,2627
$GC,2886,0.88,146.6,4.7,6.4,253,2893,0.00,2.55,0.00,0.000,4,0.000,0.052,2469,989,2628
$STATE,2903,end climb,SURFACE_DEPTH_REACHED
$STATE,2903,begin surface coast
$FINISH,3.6,1.020751
$STATE,2909,end surface coast,CONTROL_FINISHED_OK
$STATE,2909,begin surface
$SM_CCo,2928,294.33,0.631,4,0,533,660.10
$SM_GC,1.24,0.00,0.00,294.33,0.000,0.000,0.631,72,2452,533,-10.12,0.06,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2054
$TCM_TEMP,18.30
$XPDR_PINGS,130
$ALTIM_BOTTOM_PING,101.2,19.3
$24V_AH,23.8,5.904
$10V_AH,10.2,2.302
$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,23.950,20.225,221.050,294.325,0.000,32.584,32.167,78.619,34.250,0.000,0.000,14.464,425.056,1708.573,613.827,543.221,177.558,33.327,898.470,0.000,537.155,0.000,14.419
$DEVICE_MAMPS,173.342,69.797,734.786,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.316,193.616,444.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12825,257
$CFSIZE,260165632,259072000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$GPS,091007,074840,4807.571,-12223.536,7,2.2,27,18.3