version: 66.04
glider: 16
mission: 10
dive: 10
start: 10 16 108 1 51 22
data:
$ID,16
$MISSION,10
$DIVE,10
$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,-2104008.2
$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,14
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$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
$GPS1,014344,4806.840,-12222.876,12,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.7
$GPS2,015002,4806.856,-12222.894,15,1.6,32,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.198
$KALMAN_X,-1132.7,-435.2,-70.0,2007.5,-113.1
$KALMAN_Y,1259.0,619.7,89.8,-3760.6,53.2
$MHEAD_RNG_PITCHd_Wd,126.8,1933,-18.1,-10.000
$D_GRID,103
$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,-1.29,-146.6,0.0,0.0,0,110,0.00,0.00,-92.55,0.000,2,0.000,0.000,71,2031,3525
$GC,114,-1.29,-146.6,3.3,-4.6,16,139,11.00,0.00,-6.72,0.000,6,0.177,0.000,1974,2031,3824
$GC,207,-1.29,-146.6,18.1,-11.8,32,214,0.00,2.65,0.00,0.000,4,0.000,0.066,1974,3450,3825
$GC,303,-1.29,-146.6,29.8,-11.7,42,310,0.00,2.58,0.00,0.000,6,0.000,0.054,1974,2031,3824
$GC,511,-1.29,-146.6,52.8,-11.2,61,515,0.00,2.67,0.00,0.000,4,0.000,0.067,1974,3451,3824
$GC,757,-1.29,-146.6,82.2,-11.9,72,761,0.00,2.60,0.00,0.000,6,0.000,0.056,1974,2031,3824
$STATE,831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,831,begin apogee
$GC,837,-0.31,0.0,90.3,11.1,76,958,1.10,0.00,116.40,0.644,6,0.112,0.000,2188,2029,3224
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin climb
$GC,962,1.29,146.6,93.6,0.0,82,1088,1.62,2.72,115.03,0.631,4,0.074,0.063,2534,612,2626
$GC,1107,1.29,146.6,77.4,16.0,88,1113,0.00,2.60,0.00,0.000,6,0.000,0.044,2534,2038,2626
$GC,1427,1.29,146.6,25.8,16.0,111,1432,0.00,2.60,0.00,0.000,4,0.000,0.061,2534,3447,2626
$GC,1460,1.29,146.6,20.2,16.5,113,1470,0.00,2.62,0.00,0.000,6,0.000,0.061,2534,2029,2626
$STATE,1576,end climb,SURFACE_DEPTH_REACHED
$STATE,1576,begin surface coast
$FINISH,0.5,1.019847
$STATE,1620,end surface coast,CONTROL_FINISHED_OK
$STATE,1620,begin surface
$SM_CCo,1641,180.35,0.571,1,0,1186,500.17
$SM_GC,0.96,0.00,0.00,180.35,0.000,0.000,0.571,70,2028,1186,-10.07,-0.11,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1848
$TCM_TEMP,18.20
$XPDR_PINGS,103
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,90.3,6.2
$24V_AH,23.7,1.116
$10V_AH,10.1,0.444
$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,24.525,21.050,231.425,180.350,0.000,36.217,58.167,118.594,27.250,0.000,0.000,32.458,274.035,768.380,487.255,407.430,307.517,33.331,720.546,0.000,380.340,0.000,14.122,0.000
$DEVICE_MAMPS,177.177,66.729,643.513,571.415,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,93.105,105.394,241.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6524,140
$CAP_FILE_SIZE,27837,0
$CFSIZE,260165632,259055616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,161008,022253,4806.678,-12222.727,13,2.2,32,18.3