version: 66.04
glider: 16
mission: 10
dive: 29
start: 10 16 108 13 32 31
data:
$ID,16
$MISSION,10
$DIVE,29
$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,50
$T_MISSION,60
$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,-2104459
$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,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,3
$XPDR_VALID,5
$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
$GPS1,132721,4806.404,-12222.267,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.1
$GPS2,133141,4806.449,-12222.323,13,3.0,32,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.264,0.002
$KALMAN_X,9444.9,-11502.9,-1767.3,4913.0,4288.3
$KALMAN_Y,-2544.2,19626.4,-5142.9,-14478.5,-870.9
$MHEAD_RNG_PITCHd_Wd,136.0,923,-18.1,-10.000
$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,-1.29,-146.6,0.0,0.0,0,87,0.00,0.00,-69.72,0.000,2,0.000,0.000,76,2036,3393
$GC,91,-1.29,-146.6,3.2,-4.3,12,116,11.02,0.00,-9.93,0.000,6,0.179,0.000,1972,2036,3823
$GC,185,-1.03,-146.6,17.4,-11.4,28,191,0.30,0.00,0.00,0.000,6,0.137,0.000,2028,2036,3823
$GC,258,-0.98,-146.6,23.8,-8.1,37,263,0.00,2.65,0.00,0.000,4,0.000,0.069,2028,3450,3823
$GC,418,-0.92,-146.6,38.0,-9.3,50,425,0.15,2.60,0.00,0.000,6,0.116,0.058,2055,2032,3823
$GC,627,-1.01,-146.6,53.0,-6.9,68,632,0.00,2.65,0.00,0.000,4,0.000,0.069,2055,3446,3822
$STATE,723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,723,begin apogee
$GC,732,-0.31,0.0,60.3,7.5,72,853,0.62,0.00,116.30,0.623,6,0.096,0.000,2184,2025,3225
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,856,1.29,146.6,63.0,0.0,78,983,1.67,2.70,115.03,0.611,4,0.076,0.063,2539,619,2626
$GC,1018,1.13,146.6,43.8,15.3,87,1024,0.17,2.58,0.00,0.000,6,0.091,0.044,2505,2034,2627
$GC,1221,1.02,146.6,15.0,13.5,108,1228,0.12,2.62,0.00,0.000,4,0.106,0.067,2482,3444,2627
$GC,1268,1.02,146.6,8.3,12.7,116,1275,0.00,2.62,0.00,0.000,6,0.000,0.063,2482,2031,2626
$STATE,1324,end climb,SURFACE_DEPTH_REACHED
$STATE,1324,begin surface coast
$FINISH,0.9,1.019212
$STATE,1392,end surface coast,CONTROL_FINISHED_OK
$STATE,1393,begin surface
$SM_CCo,1414,135.60,0.559,3,0,1593,400.08
$SM_GC,1.01,0.00,0.00,135.60,0.000,0.000,0.559,73,2030,1593,-10.06,-0.06,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1834
$TCM_TEMP,18.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.6,6.2
$ALTIM_BOTTOM_PING,60.3,6.5
$24V_AH,23.7,2.456
$10V_AH,10.1,0.956
$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,24.900,21.100,231.325,135.600,0.000,18.089,25.862,106.803,9.250,0.000,0.000,33.307,271.338,521.653,434.686,379.115,233.514,33.313,653.585,0.000,355.389,0.000,7.352,0.000
$DEVICE_MAMPS,179.478,69.030,622.804,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,92.168,105.104,238.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6545,138
$CAP_FILE_SIZE,26938,0
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,161008,135944,4806.376,-12222.304,13,1.7,30,18.3