version: 66.04
glider: 16
mission: 10
dive: 22
start: 10 16 108 8 57 27
data:
$ID,16
$MISSION,10
$DIVE,22
$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,-2104285
$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,13
$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
$GPS1,085307,4806.256,-12222.263,29,1.4,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.0
$GPS2,085633,4806.287,-12222.280,15,1.4,15,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,-0.065
$KALMAN_X,-1056.2,-1254.3,-1677.8,5117.8,2313.5
$KALMAN_Y,2323.0,3999.4,2183.2,-11349.1,66.1
$MHEAD_RNG_PITCHd_Wd,128.6,634,-22.3,-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,-1.44,-45.4,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,71,2030,3260
$GC,85,-1.45,-52.9,3.5,-5.6,11,106,10.88,2.70,-4.45,0.000,4,0.179,0.077,1938,3443,3444
$GC,360,-1.08,-52.9,32.2,-6.7,47,366,0.45,2.58,0.00,0.000,6,0.132,0.055,2020,2028,3444
$GC,558,-1.12,-96.7,36.5,-2.2,65,569,0.00,2.67,-1.85,0.000,4,0.000,0.077,2020,3446,3625
$GC,706,-1.12,-96.7,46.4,-7.4,78,710,0.00,2.60,0.00,0.000,6,0.000,0.055,2020,2027,3625
$GC,912,-1.20,-103.9,58.8,-5.6,90,917,0.00,2.67,-0.22,0.000,4,0.000,0.078,2020,3450,3653
$STATE,931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,931,begin apogee
$GC,940,-0.31,0.0,60.1,6.3,91,1030,0.88,0.00,83.93,0.620,6,0.110,0.000,2190,2030,3225
$STATE,1030,end apogee,CONTROL_FINISHED_OK
$STATE,1030,begin climb
$GC,1033,1.51,103.9,61.8,0.0,96,1121,1.85,0.00,82.10,0.604,6,0.077,0.000,2581,2030,2800
$GC,1441,1.33,103.9,9.5,8.9,137,1447,0.17,0.00,0.00,0.000,6,0.109,0.000,2547,2030,2800
$GC,1517,1.24,107.4,5.3,5.9,150,1529,0.00,2.67,3.97,0.390,4,0.000,0.065,2547,3441,2786
$GC,1576,1.25,166.5,4.7,0.8,160,1630,0.00,2.58,46.05,0.576,6,0.000,0.056,2546,2033,2545
$STATE,1634,end climb,SURFACE_DEPTH_REACHED
$STATE,1635,begin surface coast
$FINISH,0.2,1.019589
$STATE,1917,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1938,123.88,0.567,2,0,1594,400.08
$SM_GC,0.98,0.00,0.00,123.88,0.000,0.000,0.567,71,2032,1594,-10.07,-0.03,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1841
$TCM_TEMP,18.30
$XPDR_PINGS,57
$ALTIM_TOP_PING,19.9,6.1
$ALTIM_BOTTOM_PING,60.1,6.1
$24V_AH,23.7,1.966
$10V_AH,10.1,0.759
$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,25.150,21.125,216.050,123.875,0.000,18.011,25.309,79.222,15.000,0.000,0.000,15.851,387.951,811.475,397.653,501.275,200.986,33.333,659.147,0.000,494.327,0.000,7.349,0.000
$DEVICE_MAMPS,179.478,78.234,619.736,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,150.826,164.703,380.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9693,220
$CAP_FILE_SIZE,29801,0
$CFSIZE,260165632,258805760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,161008,093251,4806.267,-12222.279,13,1.7,13,18.3