version: 66.03
glider: 16
mission: 8
dive: 11
start: 4 30 108 6 47 14
data:
$ID,16
$MISSION,8
$DIVE,11
$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,62.5
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,600
$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,-2089220.4
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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,2995
$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,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.153397
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,063944,4806.525,-12222.799,13,1.5,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.7
$GPS2,064621,4806.451,-12222.731,13,1.7,13,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.294
$KALMAN_X,2720.8,597.7,46.5,-2696.4,77.1
$KALMAN_Y,-5295.3,-1120.2,-138.6,3351.9,-366.9
$MHEAD_RNG_PITCHd_Wd,323.6,1069,-12.1,-8.000
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-0.98,-207.8,0.0,0.0,0,111,0.00,0.00,-65.25,0.000,2,0.000,0.000,72,2497,2047
$GC,114,-1.02,-244.4,3.2,-6.2,12,198,11.00,0.00,-69.93,0.000,6,0.158,0.000,2073,2498,3837
$GC,269,-1.02,-244.4,8.8,-4.9,39,276,0.00,2.62,0.00,0.000,4,0.000,0.054,2073,1073,3836
$GC,412,-1.02,-244.4,16.3,-5.5,64,419,0.00,2.62,-0.10,0.000,6,0.000,0.051,2073,2505,3841
$GC,493,-1.02,-244.4,20.6,-5.6,77,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2505,3841
$GC,684,-1.02,-244.4,31.3,-5.9,95,688,0.00,2.62,0.00,0.000,4,0.000,0.057,2073,1079,3841
$GC,724,-1.02,-244.4,33.6,-5.8,98,729,0.00,2.62,0.00,0.000,6,0.000,0.054,2073,2505,3841
$GC,922,-1.02,-244.4,44.8,-5.4,116,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2505,3841
$GC,1111,-1.02,-244.4,54.9,-5.3,130,1115,0.00,2.62,0.00,0.000,4,0.000,0.057,2073,1080,3841
$GC,1173,-1.02,-244.4,58.3,-5.4,133,1178,0.00,2.62,0.00,0.000,6,0.000,0.055,2073,2507,3841
$GC,1501,-1.02,-244.4,76.2,-5.5,149,1505,0.00,2.62,0.00,0.000,4,0.000,0.057,2073,1081,3841
$GC,1563,-1.02,-244.4,79.7,-5.3,152,1572,0.00,2.62,0.00,0.000,6,0.000,0.055,2073,2511,3841
$GC,1900,-1.02,-244.4,96.6,-4.9,168,1905,0.00,2.65,0.00,0.000,4,0.000,0.058,2073,1073,3840
$GC,1965,-1.02,-244.4,99.8,-5.4,171,1969,0.00,2.62,0.00,0.000,6,0.000,0.055,2073,2502,3840
$STATE,2192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2192,begin apogee
$GC,2199,-0.31,0.0,111.2,4.8,192,2376,0.73,0.00,168.48,0.659,6,0.077,0.000,2229,2290,2996
$STATE,2377,end apogee,CONTROL_FINISHED_OK
$STATE,2377,begin climb
$GC,2379,1.02,244.4,114.4,0.0,210,2590,1.30,2.75,196.00,0.643,4,0.048,0.067,2524,3710,1997
$GC,2646,1.02,244.4,68.1,20.1,228,2651,0.00,2.62,0.00,0.000,6,0.000,0.057,2524,2305,1998
$GC,2973,1.02,244.4,4.0,16.5,260,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2305,1997
$STATE,2983,end climb,SURFACE_DEPTH_REACHED
$STATE,2983,begin surface coast
$FINISH,0.7,1.015916
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3034,182.90,0.562,2,0,548,600.00
$SM_GC,1.29,0.00,0.00,182.90,0.000,0.000,0.562,71,2504,548,-10.25,0.08,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1721
$TCM_TEMP,17.10
$XPDR_PINGS,20
$ALTIM_TOP_PING,18.3,17.4
$ALTIM_BOTTOM_PING,90.5,30.0
$24V_AH,23.7,1.667
$10V_AH,10.1,0.697
$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
$DEVICE_SECS,23.850,32.400,364.475,182.900,0.000,36.230,49.818,156.181,6.500,0.000,0.000,15.764,456.272,1588.352,603.670,640.833,350.959,33.320,977.389,0.000,628.314,0.000,13.054
$DEVICE_MAMPS,158.002,67.496,658.853,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,181.757,186.698,461.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12871,267
$CAP_FILE_SIZE,40913,0
$CFSIZE,260165632,258932736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,300408,074220,4806.668,-12222.984,28,1.7,41,18.3