version: 66.03
glider: 16
mission: 8
dive: 16
start: 4 30 108 11 0 18
data:
$ID,16
$MISSION,8
$DIVE,16
$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,-2089310.4
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,105005,4806.970,-12222.999,12,4.3,31,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.6
$GPS2,105926,4806.928,-12222.937,12,1.8,17,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.038
$KALMAN_X,4751.5,-187.3,-157.6,-3989.3,759.7
$KALMAN_Y,-10353.7,-396.0,-321.2,8728.6,-1597.9
$MHEAD_RNG_PITCHd_Wd,127.7,2073,-11.0,-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,-0.95,-244.4,0.0,0.0,0,143,0.00,0.00,-97.28,0.000,2,0.000,0.000,69,2509,2644
$GC,147,-0.95,-244.4,3.2,-3.5,18,215,11.12,2.62,-50.00,0.000,4,0.156,0.067,2086,1077,3837
$GC,363,-0.95,-244.4,11.9,-4.7,56,370,0.00,2.60,-0.08,0.000,6,0.000,0.054,2086,2499,3838
$GC,439,-0.95,-244.4,15.7,-5.3,69,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2499,3838
$GC,513,-0.95,-244.4,19.7,-5.2,82,520,0.00,2.60,0.00,0.000,4,0.000,0.056,2085,1078,3838
$GC,598,-0.95,-244.4,24.2,-5.3,90,605,0.00,2.60,0.00,0.000,6,0.000,0.054,2086,2499,3837
$GC,796,-0.95,-244.4,34.7,-5.7,109,801,0.00,2.62,0.00,0.000,4,0.000,0.057,2086,1072,3838
$GC,931,-0.95,-244.4,42.2,-5.6,120,937,0.00,2.62,0.00,0.000,6,0.000,0.054,2086,2501,3838
$GC,1138,-0.95,-244.4,53.8,-5.6,137,1143,0.00,2.62,0.00,0.000,4,0.000,0.057,2086,1078,3837
$GC,1268,-0.95,-244.4,61.2,-5.6,143,1273,0.00,2.60,0.00,0.000,6,0.000,0.055,2087,2499,3838
$GC,1599,-0.95,-244.4,80.1,-5.9,159,1603,0.00,2.38,0.00,0.000,4,0.000,0.072,2086,3766,3837
$GC,1711,-0.95,-244.4,87.0,-6.1,164,1715,0.00,2.30,0.00,0.000,6,0.000,0.051,2086,2496,3837
$GC,2037,-0.95,-244.4,105.0,-5.2,184,2041,0.00,2.40,0.00,0.000,4,0.000,0.073,2086,3766,3837
$GC,2066,-0.95,-244.4,106.8,-5.5,186,2070,0.00,2.30,0.00,0.000,6,0.000,0.051,2086,2502,3837
$STATE,2208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2208,begin apogee
$GC,2215,-0.31,0.0,114.5,5.5,199,2392,0.65,0.00,169.95,0.670,6,0.070,0.000,2228,2292,2995
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2396,0.95,244.4,118.8,0.0,217,2607,1.23,2.67,196.10,0.644,4,0.045,0.064,2509,892,1998
$GC,2699,0.95,244.4,68.5,18.2,238,2703,0.00,2.58,0.00,0.000,6,0.000,0.050,2509,2299,1997
$GC,3024,0.95,244.4,6.7,18.2,270,3031,0.00,2.65,0.00,0.000,4,0.000,0.071,2509,3709,1997
$STATE,3041,end climb,SURFACE_DEPTH_REACHED
$STATE,3041,begin surface coast
$FINISH,2.3,1.017582
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3064,begin surface
$SM_CCo,3088,176.27,0.581,1,0,549,600.00
$SM_GC,1.29,0.00,0.00,176.27,0.000,0.000,0.581,76,2500,549,-10.23,0.00,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1727
$TCM_TEMP,16.90
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.0,18.1
$ALTIM_BOTTOM_PING,91.0,33.1
$24V_AH,23.7,2.181
$10V_AH,10.1,0.871
$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,23.900,40.825,366.050,176.275,0.000,54.587,221.068,79.235,7.250,0.000,0.000,17.605,472.125,1607.233,606.631,703.451,459.005,33.306,1008.375,0.000,686.834,0.000,13.052
$DEVICE_MAMPS,156.468,72.865,669.591,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,187.217,195.165,478.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12822,277
$CAP_FILE_SIZE,41383,0
$CFSIZE,260165632,258805760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,300408,115553,4806.721,-12222.763,7,5.3,27,18.3