version: 66.04
glider: 16
mission: 10
dive: 17
start: 10 16 108 5 59 13
data:
$ID,16
$MISSION,10
$DIVE,17
$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,-2104189.5
$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
$GPS1,055411,4806.069,-12222.128,9,3.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-62.5
$GPS2,055820,4806.107,-12222.185,17,1.8,34,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,-0.168
$KALMAN_X,-3506.2,-254.4,6.8,4997.8,-1888.2
$KALMAN_Y,3608.3,280.3,-92.3,-6972.6,1829.7
$MHEAD_RNG_PITCHd_Wd,112.8,303,-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,-30.7,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,75,2037,3258
$GC,85,-1.75,-37.9,3.1,-5.3,11,105,10.45,2.70,-3.88,0.000,4,0.178,0.076,1875,3447,3381
$GC,158,-1.35,-44.6,7.1,-5.3,23,166,0.50,2.60,-0.70,0.000,6,0.156,0.057,1961,2031,3408
$GC,235,-1.33,-82.7,8.1,-1.1,36,242,0.00,0.00,-3.60,0.000,6,0.000,0.000,1961,2031,3564
$GC,311,-1.33,-84.9,11.4,-6.0,49,317,0.00,2.65,0.00,0.000,4,0.000,0.071,1961,3446,3565
$GC,381,-1.28,-84.9,16.4,-7.2,61,387,0.00,2.60,0.00,0.000,6,0.000,0.057,1961,2030,3564
$GC,460,-1.28,-84.9,22.0,-7.0,73,465,0.00,2.67,0.00,0.000,4,0.000,0.070,1961,3446,3565
$GC,568,-1.23,-84.9,30.2,-7.8,82,574,0.15,2.60,0.00,0.000,6,0.140,0.058,1985,2033,3565
$GC,766,-1.35,-84.9,44.1,-6.9,100,771,0.00,2.67,0.00,0.000,4,0.000,0.071,1986,3450,3565
$GC,812,-1.43,-84.9,47.5,-7.4,103,819,0.17,2.60,0.00,0.000,6,0.047,0.058,1939,2030,3565
$STATE,996,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,996,begin apogee
$GC,1002,-0.31,0.0,61.5,7.6,114,1076,1.30,0.00,67.22,0.619,6,0.121,0.000,2188,2030,3224
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1079,1.80,84.9,63.0,0.0,118,1157,2.15,2.70,67.68,0.611,4,0.076,0.061,2652,619,2877
$GC,1243,1.54,84.9,35.5,21.9,128,1248,0.30,2.58,0.00,0.000,6,0.110,0.046,2595,2040,2877
$STATE,1414,end climb,SURFACE_DEPTH_REACHED
$STATE,1414,begin surface coast
$FINISH,0.3,1.019459
$STATE,1436,end surface coast,CONTROL_FINISHED_OK
$STATE,1436,begin surface
$SM_CCo,1458,161.95,0.567,2,0,1593,400.08
$SM_GC,0.97,0.00,0.00,161.95,0.000,0.000,0.567,67,2040,1593,-10.09,0.23,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1840
$TCM_TEMP,18.10
$XPDR_PINGS,77
$ALTIM_TOP_PING,19.4,6.1
$ALTIM_BOTTOM_PING,61.5,6.1
$24V_AH,23.8,1.642
$10V_AH,10.1,0.620
$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,26.200,26.375,134.900,161.950,0.000,33.412,36.356,77.930,20.000,0.000,0.000,34.433,310.179,593.064,377.523,392.241,226.088,33.334,586.277,0.000,366.393,0.000,7.350,0.000
$DEVICE_MAMPS,177.944,75.933,618.969,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,104.874,118.046,267.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6536,155
$CAP_FILE_SIZE,28434,0
$CFSIZE,260165632,258916352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,161008,062735,4806.080,-12222.134,13,3.2,32,18.3