version: 66.04
glider: 16
mission: 10
dive: 20
start: 10 16 108 7 48 57
data:
$ID,16
$MISSION,10
$DIVE,20
$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,-2104253.5
$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,11
$R_STBD_OVSHOOT,17
$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
$GPS1,074126,4806.162,-12222.254,9,2.0,9,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.0
$GPS2,074803,4806.242,-12222.309,17,1.8,17,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,-0.213
$KALMAN_X,-915.1,-2539.1,-1637.2,6181.3,962.8
$KALMAN_Y,3156.1,1844.8,1655.1,-9583.3,1310.3
$MHEAD_RNG_PITCHd_Wd,121.3,588,-24.2,-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,-1.55,-39.0,0.0,0.0,0,82,0.00,0.00,-63.97,0.000,2,0.000,0.000,76,2034,3241
$GC,85,-1.56,-49.4,3.3,-5.1,11,111,10.60,2.67,-5.03,0.000,4,0.176,0.077,1912,3438,3428
$GC,365,-1.20,-76.6,16.6,-3.3,60,374,0.45,2.58,-1.77,0.000,6,0.140,0.058,1993,2031,3541
$GC,443,-1.22,-91.4,19.8,-4.7,73,450,0.00,2.65,-0.82,0.000,4,0.000,0.079,1994,3444,3600
$GC,636,-1.22,-91.4,34.2,-8.5,91,641,0.00,2.62,0.00,0.000,6,0.000,0.061,1993,2025,3600
$GC,834,-1.22,-91.4,48.7,-7.2,109,835,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2025,3600
$STATE,1001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1001,begin apogee
$GC,1007,-0.31,0.0,60.4,6.8,118,1085,1.00,0.00,73.75,0.619,6,0.115,0.000,2187,2025,3224
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1088,1.61,91.4,62.1,0.0,122,1173,1.98,2.67,72.53,0.603,4,0.079,0.063,2612,619,2851
$GC,1293,1.32,91.4,28.5,19.3,135,1300,0.32,2.58,0.00,0.000,6,0.110,0.043,2551,2040,2851
$STATE,1454,end climb,SURFACE_DEPTH_REACHED
$STATE,1454,begin surface coast
$FINISH,2.1,1.020095
$STATE,1487,end surface coast,CONTROL_FINISHED_OK
$STATE,1487,begin surface
$SM_CCo,1509,166.35,0.559,3,0,1592,400.08
$SM_GC,1.02,0.00,0.00,166.35,0.000,0.000,0.559,77,2040,1592,-10.05,0.23,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1811
$TCM_TEMP,18.10
$XPDR_PINGS,73
$ALTIM_TOP_PING,19.4,6.1
$ALTIM_BOTTOM_PING,60.4,6.4
$24V_AH,23.8,1.838
$10V_AH,10.1,0.702
$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,25.625,15.775,146.275,166.350,0.000,36.135,75.274,134.664,19.000,0.000,0.000,17.024,307.807,676.498,389.797,400.162,326.300,33.319,598.982,0.000,392.230,0.000,7.654,0.000
$DEVICE_MAMPS,176.410,79.001,618.969,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,112.499,127.340,286.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6563,166
$CAP_FILE_SIZE,27312,0
$CFSIZE,260165632,258859008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,161008,081808,4806.241,-12222.299,29,1.4,29,18.3