version: 66.04
glider: 16
mission: 10
dive: 26
start: 10 16 108 11 29 28
data:
$ID,16
$MISSION,10
$DIVE,26
$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,-2104391
$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
$GPS1,112445,4806.383,-12222.334,15,2.0,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.1
$GPS2,112835,4806.438,-12222.371,17,4.2,36,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.184,-0.129
$KALMAN_X,-5211.8,-4219.5,4926.9,5505.9,-4477.7
$KALMAN_Y,6438.3,5367.6,-2023.9,-12345.6,2641.2
$MHEAD_RNG_PITCHd_Wd,132.2,931,-14.1,-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,-1.00,-104.6,0.0,0.0,0,94,0.00,0.00,-76.00,0.000,2,0.000,0.000,74,2034,3553
$GC,97,-1.04,-146.6,3.5,-3.9,13,123,11.38,2.67,-5.75,0.000,4,0.181,0.081,2025,3436,3824
$GC,239,-0.77,-146.6,24.1,-8.7,34,244,0.32,2.58,0.00,0.000,6,0.107,0.056,2088,2030,3824
$GC,437,-0.77,-146.6,36.1,-5.7,52,441,0.00,2.67,0.00,0.000,4,0.000,0.069,2087,3447,3824
$GC,582,-0.77,-146.6,45.5,-6.5,64,588,0.00,2.58,0.00,0.000,6,0.000,0.056,2087,2033,3824
$GC,787,-0.82,-146.6,57.5,-5.6,78,792,0.00,2.65,0.00,0.000,4,0.000,0.070,2087,3441,3824
$STATE,829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,829,begin apogee
$GC,839,-0.31,0.0,60.1,7.1,80,958,0.52,0.00,116.15,0.620,6,0.094,0.000,2192,2030,3225
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin climb
$GC,962,1.04,146.6,62.8,0.0,86,1089,1.38,2.72,115.10,0.612,4,0.077,0.063,2482,613,2626
$GC,1115,0.89,146.6,48.4,13.2,93,1120,0.15,2.60,0.00,0.000,6,0.087,0.045,2453,2031,2626
$GC,1313,0.80,146.6,24.9,11.5,111,1318,0.00,2.65,0.00,0.000,4,0.000,0.068,2453,3448,2626
$GC,1371,0.70,146.6,18.1,12.0,116,1378,0.20,2.62,0.00,0.000,6,0.088,0.061,2413,2032,2626
$GC,1447,0.74,146.6,11.6,7.6,129,1453,0.00,2.62,0.00,0.000,4,0.000,0.064,2413,611,2626
$GC,1494,0.83,146.6,8.5,6.4,137,1501,0.12,2.58,0.00,0.000,6,0.044,0.044,2452,2035,2626
$GC,1570,0.86,179.5,4.7,4.9,150,1584,0.00,0.00,11.43,0.529,2,0.000,0.000,2452,2035,2570
$STATE,1584,end climb,SURFACE_DEPTH_REACHED
$STATE,1585,begin surface coast
$FINISH,1.5,1.019377
$STATE,1674,end surface coast,CONTROL_FINISHED_OK
$STATE,1674,begin surface
$SM_CCo,1695,123.50,0.568,1,0,1594,400.08
$SM_GC,1.01,0.00,0.00,123.50,0.000,0.000,0.568,76,2036,1594,-10.05,0.11,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1846
$TCM_TEMP,18.20
$XPDR_PINGS,59
$ALTIM_TOP_PING,19.4,6.1
$ALTIM_BOTTOM_PING,60.1,6.1
$24V_AH,23.0,2.233
$10V_AH,10.1,0.868
$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,24.725,31.600,242.675,123.500,0.000,18.330,30.836,75.607,15.500,0.000,0.000,36.954,320.231,678.392,429.833,439.023,205.926,33.340,674.842,0.000,409.964,0.000,7.350,0.000
$DEVICE_MAMPS,181.012,80.535,619.736,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,112.812,127.159,290.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6506,168
$CAP_FILE_SIZE,30300,0
$CFSIZE,260165632,258723840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,161008,120045,4806.414,-12222.322,14,1.8,14,18.3