version: 66.03
glider: 16
mission: 8
dive: 18
start: 4 30 108 13 3 50
data:
$ID,16
$MISSION,8
$DIVE,18
$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,-2089371.8
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,125626,4806.466,-12222.497,11,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.4
$GPS2,130257,4806.423,-12222.438,17,1.8,17,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.199,-0.232
$KALMAN_X,3700.5,-287.3,300.9,-2671.0,-227.9
$KALMAN_Y,-10163.4,-175.6,-708.1,7766.9,118.0
$MHEAD_RNG_PITCHd_Wd,127.0,953,-14.1,-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,-1.06,-159.7,0.0,0.0,0,171,0.00,0.00,-124.85,0.000,2,0.000,0.000,74,2500,3111
$GC,174,-1.15,-244.4,3.0,-2.2,23,226,10.95,2.62,-34.15,0.000,4,0.161,0.067,2047,1076,3836
$GC,385,-1.15,-244.4,14.0,-6.1,60,392,0.00,2.65,-0.08,0.000,6,0.000,0.058,2047,2506,3838
$GC,461,-1.15,-244.4,19.0,-6.7,73,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2506,3838
$GC,532,-1.15,-244.4,23.9,-6.9,81,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2507,3837
$GC,723,-1.15,-244.4,37.2,-7.0,99,728,0.00,2.65,0.00,0.000,4,0.000,0.059,2047,1075,3837
$GC,809,-1.15,-244.4,42.8,-6.6,106,813,0.00,2.65,0.00,0.000,6,0.000,0.059,2047,2502,3837
$GC,1004,-1.15,-244.4,55.5,-6.6,120,1008,0.00,2.65,0.00,0.000,4,0.000,0.059,2047,1073,3837
$GC,1048,-1.15,-244.4,58.6,-7.0,122,1053,0.00,2.65,0.00,0.000,6,0.000,0.059,2047,2501,3837
$GC,1372,-1.15,-244.4,79.1,-6.1,138,1376,0.00,2.65,0.00,0.000,4,0.000,0.059,2047,1070,3836
$GC,1449,-1.15,-244.4,84.1,-5.9,141,1456,0.00,2.65,0.00,0.000,6,0.000,0.058,2047,2505,3837
$GC,1767,-1.15,-244.4,103.5,-6.0,159,1771,0.00,2.65,0.00,0.000,4,0.000,0.060,2047,1073,3836
$GC,1852,-1.15,-244.4,108.8,-6.4,166,1856,0.00,2.62,0.00,0.000,6,0.000,0.059,2047,2501,3837
$STATE,1941,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1941,begin apogee
$GC,1948,-0.31,0.0,114.3,6.2,174,2125,0.85,0.00,169.40,0.668,6,0.083,0.000,2228,2289,2995
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2126,begin climb
$GC,2129,1.15,244.4,116.7,0.0,192,2338,1.45,2.75,197.40,0.646,4,0.056,0.069,2549,3717,1998
$GC,2388,1.15,244.4,67.2,22.8,210,2393,0.00,2.65,0.00,0.000,6,0.000,0.061,2549,2310,1998
$STATE,2661,end climb,SURFACE_DEPTH_REACHED
$STATE,2661,begin surface coast
$FINISH,1.9,1.018127
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2700,174.20,0.571,1,0,549,600.00
$SM_GC,1.41,0.00,0.00,174.20,0.000,0.000,0.571,73,2505,549,-10.24,0.14,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1710
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,17.5,16.6
$ALTIM_BOTTOM_PING,90.8,33.0
$24V_AH,23.7,2.395
$10V_AH,10.1,0.950
$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,24.400,32.600,366.800,174.200,0.000,36.322,54.202,142.759,3.500,0.000,0.000,19.637,407.300,1350.709,606.430,582.972,339.437,33.316,959.507,0.000,570.804,0.000,10.172
$DEVICE_MAMPS,161.070,69.030,668.057,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,163.371,168.491,414.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12867,240
$CAP_FILE_SIZE,38295,0
$CFSIZE,260165632,258752512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,300408,135259,4806.125,-12222.030,11,7.0,31,18.3