version: 66.04
glider: 16
mission: 10
dive: 25
start: 10 16 108 10 53 52
data:
$ID,16
$MISSION,10
$DIVE,25
$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,-2104353.2
$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,12
$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
$GPS1,104859,4806.316,-12222.319,12,2.9,31,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.5
$GPS2,105259,4806.361,-12222.350,17,3.0,36,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.214,-0.069
$KALMAN_X,-9483.5,3146.7,2848.5,4527.2,-4965.7
$KALMAN_Y,5467.9,3728.5,119.4,-12023.8,1062.2
$MHEAD_RNG_PITCHd_Wd,128.8,796,-17.2,-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,-1.16,-73.6,0.0,0.0,0,82,0.00,0.00,-64.22,0.000,2,0.000,0.000,74,2033,3265
$GC,85,-1.17,-88.2,3.4,-5.4,11,110,11.18,0.00,-7.40,0.000,6,0.179,0.000,1998,2033,3584
$GC,179,-0.81,-88.2,17.5,-13.8,27,186,0.40,2.65,0.00,0.000,4,0.127,0.067,2075,3451,3584
$GC,377,-0.84,-114.6,28.9,-4.8,47,385,0.00,2.60,-1.33,0.000,6,0.000,0.055,2075,2030,3696
$GC,576,-0.93,-128.7,39.5,-5.5,66,581,0.00,2.67,-0.55,0.000,4,0.000,0.079,2074,3450,3752
$GC,684,-1.01,-128.7,46.5,-6.6,75,689,0.17,2.60,0.00,0.000,6,0.041,0.055,2026,2031,3752
$STATE,879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,879,begin apogee
$GC,886,-0.31,0.0,61.1,7.5,86,992,0.82,0.00,102.78,0.620,6,0.098,0.000,2189,2031,3225
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,993,begin climb
$GC,996,1.22,128.7,63.5,0.0,91,1105,1.55,2.67,101.35,0.607,4,0.074,0.060,2519,612,2700
$GC,1168,1.06,128.7,44.6,13.9,100,1174,0.15,2.58,0.00,0.000,6,0.094,0.044,2491,2031,2700
$GC,1369,0.94,128.7,17.7,12.7,119,1376,0.12,2.62,0.00,0.000,4,0.102,0.067,2468,3442,2700
$GC,1411,0.85,128.7,12.8,11.2,126,1419,0.12,2.60,0.00,0.000,6,0.098,0.061,2444,2034,2699
$GC,1488,0.99,140.2,7.5,5.6,139,1502,0.12,0.00,10.43,0.522,6,0.046,0.000,2486,2034,2653
$STATE,1551,end climb,SURFACE_DEPTH_REACHED
$STATE,1551,begin surface coast
$FINISH,1.2,1.019471
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1648,136.07,0.558,3,0,1594,400.08
$SM_GC,0.92,0.00,0.00,136.07,0.000,0.000,0.558,74,2034,1594,-10.06,0.06,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1846
$TCM_TEMP,18.10
$XPDR_PINGS,62
$ALTIM_TOP_PING,18.9,6.1
$ALTIM_BOTTOM_PING,61.1,6.1
$24V_AH,23.7,2.163
$10V_AH,10.1,0.841
$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,25.500,21.000,214.550,136.075,0.000,18.248,28.554,87.329,16.250,0.000,0.000,37.786,315.924,679.937,415.762,431.579,215.632,33.307,645.603,0.000,402.863,0.000,7.349,0.000
$DEVICE_MAMPS,178.711,79.001,619.736,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,110.067,121.663,281.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6522,163
$CAP_FILE_SIZE,29267,0
$CFSIZE,260165632,258744320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,161008,112445,4806.383,-12222.334,15,2.0,15,18.3