version: 66.04
glider: 16
mission: 10
dive: 16
start: 10 16 108 5 25 16
data:
$ID,16
$MISSION,10
$DIVE,16
$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,300
$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,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,400
$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,-2104154.2
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,14
$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,4
$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
$GPS1,052047,4806.084,-12222.146,13,2.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-63.2
$GPS2,052423,4806.114,-12222.195,11,2.1,30,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.155
$KALMAN_X,-2757.9,-297.4,64.9,4224.0,-822.7
$KALMAN_Y,2873.2,386.8,-192.8,-6232.6,783.2
$MHEAD_RNG_PITCHd_Wd,113.0,321,-27.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.74,-30.7,0.0,0.0,0,104,0.00,0.00,-83.82,0.000,6,0.000,0.000,66,2034,3349
$GC,107,-1.76,-44.7,3.1,-4.3,15,127,10.48,2.65,-1.65,0.000,4,0.179,0.076,1871,3453,3409
$GC,162,-1.07,-44.7,7.8,-7.6,24,170,0.85,2.60,0.00,0.000,6,0.150,0.055,2023,2032,3409
$GC,239,-1.27,-82.0,9.0,-1.2,37,252,0.17,2.67,-3.35,0.000,4,0.044,0.077,1972,3443,3563
$GC,467,-1.27,-82.0,22.2,-7.3,75,471,0.00,2.60,0.00,0.000,6,0.000,0.056,1972,2030,3562
$GC,665,-1.33,-82.0,35.7,-7.3,93,669,0.00,2.67,0.00,0.000,4,0.000,0.067,1972,3449,3563
$GC,787,-1.33,-82.0,45.2,-8.2,103,794,0.00,2.60,0.00,0.000,6,0.000,0.058,1972,2029,3563
$GC,993,-1.42,-82.0,59.5,-7.1,117,997,0.00,2.67,0.00,0.000,4,0.000,0.071,1972,3444,3562
$STATE,1004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1004,begin apogee
$GC,1014,-0.31,0.0,60.3,6.8,117,1084,1.08,0.00,66.78,0.617,6,0.115,0.000,2184,2033,3225
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1087,1.80,82.0,62.3,0.0,121,1162,2.15,2.67,65.18,0.611,4,0.073,0.062,2652,613,2890
$GC,1205,1.48,82.0,45.5,20.6,127,1210,0.38,2.60,0.00,0.000,6,0.116,0.044,2583,2037,2889
$GC,1407,1.36,82.0,9.5,16.9,150,1414,0.15,0.00,0.00,0.000,6,0.128,0.000,2558,2037,2890
$STATE,1440,end climb,SURFACE_DEPTH_REACHED
$STATE,1440,begin surface coast
$FINISH,1.4,1.019397
$STATE,1470,end surface coast,CONTROL_FINISHED_OK
$STATE,1470,begin surface
$SM_CCo,1492,168.15,0.563,3,0,1593,400.08
$SM_GC,1.03,0.00,0.00,168.15,0.000,0.000,0.563,74,2037,1593,-10.05,0.14,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1827
$TCM_TEMP,18.20
$XPDR_PINGS,73
$ALTIM_TOP_PING,18.9,6.3
$ALTIM_BOTTOM_PING,60.3,6.5
$24V_AH,23.8,1.582
$10V_AH,10.1,0.595
$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,26.525,26.400,131.950,168.150,0.000,18.011,24.967,75.931,19.000,0.000,0.000,31.348,299.171,613.572,400.512,394.384,196.858,33.331,613.340,0.000,371.489,0.000,7.357,0.000
$DEVICE_MAMPS,179.478,76.700,617.435,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,108.294,123.004,278.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6567,161
$CAP_FILE_SIZE,27666,0
$CFSIZE,260165632,258936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,161008,055411,4806.069,-12222.128,9,3.4,28,18.3