version: 66.04
glider: 16
mission: 10
dive: 28
start: 10 16 108 12 50 14
data:
$ID,16
$MISSION,10
$DIVE,28
$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,-2104425
$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,10
$R_STBD_OVSHOOT,14
$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
$GPS1,124532,4806.455,-12222.285,10,1.5,21,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.1
$GPS2,124921,4806.500,-12222.333,15,1.5,15,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,-0.113
$KALMAN_X,10167.3,-17589.2,2592.4,5888.7,4749.8
$KALMAN_Y,2214.4,14664.7,-5401.6,-13925.1,1584.7
$MHEAD_RNG_PITCHd_Wd,137.7,1013,-12.6,-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,-0.93,-126.8,0.0,0.0,0,87,0.00,0.00,-69.65,0.000,2,0.000,0.000,73,2040,3412
$GC,91,-0.95,-146.6,3.5,-5.2,12,118,11.50,2.72,-9.35,0.000,4,0.179,0.081,2047,3451,3824
$GC,147,-0.11,-146.6,12.4,-14.5,21,155,0.93,2.62,0.00,0.000,6,0.098,0.058,2231,2030,3824
$GC,224,-0.65,-146.6,14.6,-1.9,34,231,0.50,0.00,0.00,0.000,6,0.053,0.000,2116,2030,3824
$GC,300,-0.81,-146.6,17.7,-4.1,47,307,0.15,2.67,0.00,0.000,4,0.046,0.070,2072,3449,3824
$GC,444,-0.76,-146.6,25.8,-5.9,63,452,0.10,2.62,0.00,0.000,6,0.099,0.058,2090,2029,3824
$GC,643,-0.81,-146.6,35.7,-4.8,82,647,0.00,2.67,0.00,0.000,4,0.000,0.071,2090,3445,3824
$GC,740,-0.87,-146.6,40.8,-5.4,90,744,0.00,2.60,0.00,0.000,6,0.000,0.058,2090,2033,3824
$GC,938,-0.93,-146.6,49.9,-4.7,108,943,0.15,2.67,0.00,0.000,4,0.041,0.071,2042,3446,3824
$GC,1039,-0.82,-146.6,56.8,-7.0,112,1046,0.20,2.60,0.00,0.000,6,0.092,0.059,2080,2031,3824
$STATE,1109,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1109,begin apogee
$GC,1115,-0.31,0.0,60.3,5.3,116,1235,0.55,0.00,116.53,0.624,6,0.089,0.000,2191,2031,3225
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1239,0.95,146.6,62.2,0.0,122,1361,1.27,0.00,116.05,0.614,6,0.081,0.000,2460,2031,2626
$GC,1679,0.84,146.6,19.8,9.9,156,1685,0.00,2.67,0.00,0.000,4,0.000,0.070,2460,3450,2626
$GC,1743,0.71,146.6,13.1,10.3,167,1750,0.22,2.62,0.00,0.000,6,0.087,0.062,2415,2032,2625
$GC,1820,0.75,146.6,7.4,6.3,180,1826,0.00,2.62,0.00,0.000,4,0.000,0.065,2415,612,2625
$STATE,1898,end climb,SURFACE_DEPTH_REACHED
$STATE,1898,begin surface coast
$FINISH,0.7,1.019273
$STATE,2011,end surface coast,CONTROL_FINISHED_OK
$STATE,2011,begin surface
$SM_CCo,2035,133.18,0.567,2,0,1593,400.08
$SM_GC,1.03,0.00,0.00,133.18,0.000,0.000,0.567,76,2035,1593,-10.05,0.08,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1838
$TCM_TEMP,18.20
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.8,6.1
$ALTIM_BOTTOM_PING,60.3,6.1
$24V_AH,23.7,2.385
$10V_AH,10.1,0.932
$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,25.975,31.775,232.575,133.175,0.000,18.323,29.294,90.904,14.250,0.000,0.000,17.218,393.203,857.994,460.900,481.311,232.279,33.305,712.910,0.000,477.019,0.000,7.354,0.000
$DEVICE_MAMPS,179.478,81.302,623.571,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,144.894,164.113,369.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9692,214
$CAP_FILE_SIZE,33662,0
$CFSIZE,260165632,258670592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,161008,132721,4806.404,-12222.267,10,1.4,10,18.3