version: 66.04
glider: 16
mission: 10
dive: 8
start: 10 16 108 0 40 27
data:
$ID,16
$MISSION,10
$DIVE,8
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$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,0
$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,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2103957.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2260
$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
$ROLL_DEG,40
$C_ROLL_DIVE,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3225
$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,0
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.715818
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,003514,4807.078,-12223.096,14,2.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.9
$GPS2,003907,4807.096,-12223.111,13,1.8,29,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,-0.120
$KALMAN_X,-785.3,-392.5,-113.4,1391.4,-116.8
$KALMAN_Y,941.3,584.7,220.9,-3094.5,66.9
$MHEAD_RNG_PITCHd_Wd,123.9,225,-27.9,-10.000
$D_GRID,105
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.81,-62.0,0.0,0.0,0,109,0.00,0.00,-90.40,0.000,6,0.000,0.000,71,2033,3477
$GC,113,-1.86,-107.1,3.5,-5.1,16,132,10.32,0.00,-4.35,0.000,6,0.179,0.000,1851,2033,3664
$GC,200,-1.86,-107.1,18.5,-15.7,31,207,0.00,2.62,0.00,0.000,4,0.000,0.065,1851,3447,3663
$GC,315,-1.86,-107.1,33.9,-12.7,42,319,0.00,2.60,0.00,0.000,6,0.000,0.056,1851,2031,3663
$GC,511,-1.86,-107.1,59.1,-13.7,57,515,0.00,2.65,0.00,0.000,4,0.000,0.066,1851,3445,3663
$GC,768,-1.86,-107.1,98.1,-15.1,68,774,0.00,2.60,0.00,0.000,6,0.000,0.058,1851,2025,3663
$STATE,824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,824,begin apogee
$GC,831,-0.31,0.0,106.4,14.4,73,921,1.77,0.00,85.93,0.654,6,0.137,0.000,2185,2024,3225
$STATE,922,end apogee,CONTROL_FINISHED_OK
$STATE,922,begin climb
$GC,925,1.86,107.1,109.1,0.0,82,1020,2.22,2.65,85.20,0.640,4,0.076,0.061,2666,612,2787
$GC,1037,1.86,107.1,91.6,24.0,91,1043,0.00,2.60,0.00,0.000,6,0.000,0.044,2668,2035,2787
$GC,1357,1.86,107.1,16.1,23.8,114,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2035,2787
$STATE,1417,end climb,SURFACE_DEPTH_REACHED
$STATE,1417,begin surface coast
$FINISH,1.1,1.019922
$STATE,1441,end surface coast,CONTROL_FINISHED_OK
$STATE,1441,begin surface
$SM_CCo,1463,205.02,0.568,2,0,1186,500.17
$SM_GC,0.96,0.00,0.00,205.02,0.000,0.000,0.568,74,2035,1186,-10.06,0.08,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1830
$TCM_TEMP,18.30
$XPDR_PINGS,97
$ALTIM_TOP_PING,18.7,17.8
$ALTIM_BOTTOM_PING,101.7,18.6
$24V_AH,23.7,0.952
$10V_AH,10.1,0.393
$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,Compass2
$DEVICE_SECS,25.925,15.725,171.125,205.025,0.000,18.221,32.808,83.795,26.000,0.000,0.000,29.471,256.576,662.426,456.804,364.523,217.534,33.310,665.284,0.000,341.496,0.000,13.521,0.000
$DEVICE_MAMPS,178.711,65.962,654.251,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,84.654,93.637,222.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6506,129
$CAP_FILE_SIZE,24250,0
$CFSIZE,260165632,259100672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,161008,010934,4806.986,-12222.994,10,2.5,29,18.3