version: 66.04
glider: 16
mission: 10
dive: 23
start: 10 16 108 9 37 56
data:
$ID,16
$MISSION,10
$DIVE,23
$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,-2104302
$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,15
$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
$GPS1,093251,4806.267,-12222.279,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.3
$GPS2,093703,4806.296,-12222.316,14,1.7,14,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.034
$KALMAN_X,-3584.7,1662.8,-1108.4,4114.7,1037.8
$KALMAN_Y,2285.3,4519.4,2035.0,-11668.0,-382.8
$MHEAD_RNG_PITCHd_Wd,126.2,673,-20.9,-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,-1.36,-51.4,0.0,0.0,0,81,0.00,0.00,-64.00,0.000,2,0.000,0.000,71,2032,3243
$GC,85,-1.38,-65.2,3.3,-5.1,11,111,10.88,2.67,-6.20,0.000,4,0.177,0.078,1952,3436,3493
$GC,364,-1.01,-68.0,30.1,-6.0,46,371,0.45,2.55,-0.17,0.000,6,0.135,0.054,2035,2033,3507
$GC,562,-1.04,-97.5,37.9,-3.9,65,568,0.00,2.65,-1.20,0.000,4,0.000,0.078,2035,3441,3625
$GC,820,-1.04,-97.5,54.7,-6.8,84,827,0.00,2.58,0.00,0.000,6,0.000,0.056,2035,2031,3626
$STATE,931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,931,begin apogee
$GC,938,-0.31,0.0,61.3,5.9,90,1020,0.77,0.00,78.60,0.621,6,0.106,0.000,2186,2030,3225
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1023,1.41,97.5,62.8,0.0,94,1109,1.77,2.72,77.28,0.606,4,0.079,0.061,2560,617,2826
$GC,1145,1.21,97.5,48.7,16.4,99,1150,0.20,2.60,0.00,0.000,6,0.100,0.044,2523,2040,2826
$GC,1477,1.15,106.0,8.6,5.6,140,1489,0.00,0.00,8.43,0.505,6,0.000,0.000,2523,2040,2791
$GC,1559,1.12,130.7,5.2,4.2,154,1584,0.00,2.70,19.75,0.556,4,0.000,0.065,2523,3442,2691
$STATE,1600,end climb,SURFACE_DEPTH_REACHED
$STATE,1600,begin surface coast
$FINISH,3.1,1.020406
$STATE,1640,end surface coast,CONTROL_FINISHED_OK
$STATE,1640,begin surface
$SM_CCo,1665,141.35,0.561,3,0,1594,400.08
$SM_GC,1.01,0.00,0.00,141.35,0.000,0.000,0.561,73,2025,1594,-10.06,-0.17,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1834
$TCM_TEMP,18.20
$XPDR_PINGS,69
$ALTIM_TOP_PING,19.7,6.1
$ALTIM_BOTTOM_PING,61.3,6.1
$24V_AH,23.8,2.030
$10V_AH,10.1,0.786
$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,25.200,21.150,184.050,141.350,0.000,33.184,40.528,89.545,18.000,0.000,0.000,16.309,311.720,704.842,394.071,427.920,246.510,33.306,623.914,0.000,421.740,0.000,7.353,0.000
$DEVICE_MAMPS,177.177,78.234,620.503,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,113.318,127.739,290.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6501,168
$CAP_FILE_SIZE,27926,0
$CFSIZE,260165632,258793472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,161008,100856,4806.261,-12222.341,7,1.4,7,18.3