version: 66.04
glider: 16
mission: 10
dive: 21
start: 10 16 108 8 22 33
data:
$ID,16
$MISSION,10
$DIVE,21
$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,-2104268.5
$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
$GPS1,081808,4806.241,-12222.299,29,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.7
$GPS2,082139,4806.279,-12222.327,14,1.4,14,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,-0.158
$KALMAN_X,-239.9,-2834.9,-1705.1,5851.1,2186.7
$KALMAN_Y,3155.8,2523.6,2067.8,-10604.6,1240.0
$MHEAD_RNG_PITCHd_Wd,123.7,657,-21.5,-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,-1.40,-48.8,0.0,0.0,0,82,0.00,0.00,-64.03,0.000,2,0.000,0.000,76,2041,3216
$GC,85,-1.41,-64.9,3.2,-4.9,11,111,10.82,2.62,-7.25,0.000,4,0.177,0.077,1945,3445,3491
$GC,365,-1.06,-64.9,29.7,-9.6,51,371,0.45,2.60,0.00,0.000,6,0.131,0.058,2027,2030,3491
$GC,563,-1.06,-67.5,46.0,-6.0,69,568,0.00,2.67,-0.10,0.000,4,0.000,0.077,2027,3450,3503
$GC,722,-1.10,-103.1,52.9,-3.2,79,730,0.00,2.60,-1.27,0.000,6,0.000,0.056,2028,2031,3651
$STATE,863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,863,begin apogee
$GC,870,-0.31,0.0,60.0,5.9,86,961,0.82,0.00,83.47,0.616,6,0.104,0.000,2189,2031,3225
$STATE,962,end apogee,CONTROL_FINISHED_OK
$STATE,962,begin climb
$GC,965,1.46,103.1,62.1,0.0,91,1052,1.80,0.00,81.65,0.609,6,0.077,0.000,2571,2031,2804
$GC,1370,1.26,103.1,17.9,8.6,125,1376,0.17,0.00,0.00,0.000,6,0.110,0.000,2536,2031,2804
$GC,1445,1.11,103.1,11.1,8.8,138,1451,0.17,0.00,0.00,0.000,6,0.111,0.000,2500,2031,2804
$STATE,1517,end climb,SURFACE_DEPTH_REACHED
$STATE,1517,begin surface coast
$FINISH,1.0,1.019680
$STATE,1558,end surface coast,CONTROL_FINISHED_OK
$STATE,1558,begin surface
$SM_CCo,1579,161.65,0.553,5,0,1593,400.08
$SM_GC,0.92,0.00,0.00,161.65,0.000,0.000,0.553,71,2029,1593,-10.06,-0.08,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1839
$TCM_TEMP,18.10
$XPDR_PINGS,58
$ALTIM_TOP_PING,19.9,6.1
$ALTIM_BOTTOM_PING,60.0,6.1
$24V_AH,23.7,1.901
$10V_AH,10.1,0.728
$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,25.225,10.500,165.125,161.650,0.000,18.158,34.089,75.986,15.250,0.000,0.000,14.284,304.511,700.328,409.011,383.560,200.482,33.338,618.201,0.000,379.515,0.000,7.350,0.000
$DEVICE_MAMPS,177.177,77.467,615.901,553.007,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,107.682,119.872,273.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6564,158
$CAP_FILE_SIZE,24838,0
$CFSIZE,260165632,258834432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,5,0
$GPS,161008,085307,4806.256,-12222.263,29,1.4,29,18.3