version: 66.03
glider: 16
mission: 8
dive: 17
start: 4 30 108 12 0 56
data:
$ID,16
$MISSION,8
$DIVE,17
$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,-2089351.5
$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,17
$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
$GPS1,115553,4806.721,-12222.763,7,5.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.1
$GPS2,120003,4806.689,-12222.743,38,1.3,38,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,-0.179
$KALMAN_X,4152.3,-186.6,92.3,-3386.9,201.8
$KALMAN_Y,-10227.2,-395.2,-626.2,8456.4,-587.9
$MHEAD_RNG_PITCHd_Wd,125.9,1573,-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,-244.4,0.0,0.0,0,171,0.00,0.00,-124.70,0.000,2,0.000,0.000,76,2501,3135
$GC,174,-0.95,-244.4,3.1,-2.5,23,221,11.10,2.60,-28.88,0.000,4,0.158,0.069,2087,1079,3836
$GC,331,-0.95,-244.4,10.3,-6.0,50,338,0.00,2.62,-0.08,0.000,6,0.000,0.056,2087,2502,3837
$GC,407,-0.95,-244.4,14.1,-5.3,63,413,0.00,2.38,0.00,0.000,4,0.000,0.072,2087,3769,3837
$GC,426,-0.95,-244.4,15.2,-5.5,66,433,0.00,2.30,0.00,0.000,6,0.000,0.051,2087,2499,3837
$GC,502,-0.95,-244.4,18.9,-5.0,79,508,0.00,2.62,0.00,0.000,4,0.000,0.064,2087,1077,3837
$GC,594,-0.95,-244.4,23.7,-5.3,89,598,0.00,2.65,0.00,0.000,6,0.000,0.058,2087,2500,3836
$GC,792,-0.95,-244.4,34.7,-5.8,107,796,0.00,2.62,0.00,0.000,4,0.000,0.058,2087,1080,3836
$GC,922,-0.95,-244.4,42.3,-5.8,118,927,0.00,2.62,0.00,0.000,6,0.000,0.058,2087,2499,3836
$GC,1118,-0.95,-244.4,53.7,-5.9,133,1123,0.00,2.62,0.00,0.000,4,0.000,0.058,2087,1078,3836
$GC,1236,-0.95,-244.4,60.5,-5.7,138,1241,0.00,2.65,-0.03,0.000,6,0.000,0.059,2087,2502,3838
$GC,1552,-0.95,-244.4,77.9,-5.4,153,1556,0.00,2.40,0.00,0.000,4,0.000,0.074,2087,3772,3838
$GC,1633,-0.95,-244.4,82.5,-5.4,156,1639,0.00,2.30,0.00,0.000,6,0.000,0.051,2087,2499,3838
$GC,1949,-0.95,-244.4,99.4,-5.3,172,1953,0.00,2.42,0.00,0.000,4,0.000,0.076,2087,3771,3838
$GC,1970,-0.95,-244.4,100.7,-5.7,173,1977,0.00,2.30,0.00,0.000,6,0.000,0.052,2087,2500,3838
$STATE,2208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2208,begin apogee
$GC,2215,-0.31,0.0,113.7,5.7,196,2392,0.65,0.00,170.10,0.677,6,0.068,0.000,2230,2294,2995
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2396,0.95,244.4,118.1,0.0,214,2607,1.23,2.75,197.62,0.645,4,0.051,0.072,2508,3717,1997
$GC,2646,0.95,244.4,77.5,20.3,232,2653,0.00,2.67,0.00,0.000,6,0.000,0.064,2507,2303,1997
$GC,2968,0.95,244.4,16.4,18.6,257,2974,0.00,2.67,0.00,0.000,4,0.000,0.067,2508,874,1997
$GC,3009,0.95,244.4,8.4,19.6,264,3015,0.00,2.62,0.00,0.000,6,0.000,0.082,2508,2301,1997
$STATE,3036,end climb,SURFACE_DEPTH_REACHED
$STATE,3036,begin surface coast
$FINISH,1.8,1.018418
$STATE,3060,end surface coast,CONTROL_FINISHED_OK
$STATE,3060,begin surface
$SM_CCo,3082,175.88,0.578,1,0,549,600.00
$SM_GC,1.29,0.00,0.00,175.88,0.000,0.000,0.578,73,2500,549,-10.24,0.00,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1724
$TCM_TEMP,17.00
$XPDR_PINGS,18
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,80.3,43.1
$24V_AH,23.7,2.286
$10V_AH,10.1,0.912
$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,23.900,46.600,367.725,175.875,0.000,18.360,30.456,87.142,5.500,0.000,0.000,40.469,461.255,1520.102,616.322,688.212,243.517,33.309,1013.993,0.000,652.591,0.000,8.659
$DEVICE_MAMPS,158.002,82.069,677.261,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.668,193.262,471.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12855,273
$CAP_FILE_SIZE,41166,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,300408,125626,4806.466,-12222.497,11,1.6,29,18.3