version: 66.04
glider: 5
mission: 4
dive: 12
start: 10 16 108 3 3 6
data:
$ID,5
$MISSION,4
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,-4
$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,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-85753.625
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.906118
$PRESSURE_SLOPE,0.000115925
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,025804,4806.453,-12222.402,14,2.4,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-66.5
$GPS2,030145,4806.472,-12222.399,15,1.0,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.239
$KALMAN_X,-205.8,-106.1,36.3,1304.1,2.5
$KALMAN_Y,1990.9,571.9,-61.0,-5170.9,86.9
$MHEAD_RNG_PITCHd_Wd,136.8,1003,-18.1,-10.000
$D_GRID,107
$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,-1.44,-146.6,0.0,0.0,0,128,0.00,0.00,-109.35,0.000,2,0.000,0.000,428,2166,3586
$GC,131,-1.44,-146.6,3.7,-8.7,19,157,10.12,2.65,-6.00,0.000,4,0.148,0.077,2329,3599,3839
$GC,226,-1.44,-146.6,22.5,-15.5,34,231,0.00,2.53,0.00,0.000,6,0.000,0.048,2329,2183,3839
$GC,424,-1.44,-146.6,50.7,-14.1,52,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2165,3839
$GC,733,-1.44,-146.6,94.5,-14.3,67,738,0.00,2.62,0.00,0.000,4,0.000,0.066,2329,3606,3839
$STATE,819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,819,begin apogee
$GC,829,-0.33,0.0,107.5,14.5,73,948,1.15,0.00,114.97,0.812,6,0.091,0.000,2571,2171,3240
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,949,begin climb
$GC,951,1.44,146.6,111.6,0.0,85,1073,1.80,2.60,112.70,0.789,4,0.059,0.058,2966,786,2642
$GC,1118,1.44,146.6,91.7,16.5,98,1122,0.00,2.53,0.00,0.000,6,0.000,0.050,2965,2190,2641
$GC,1435,1.44,146.6,40.9,14.9,115,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2191,2641
$GC,1629,1.44,146.6,12.3,14.1,137,1635,0.00,2.55,0.00,0.000,4,0.000,0.063,2966,3602,2641
$STATE,1695,end climb,SURFACE_DEPTH_REACHED
$STATE,1696,begin surface coast
$FINISH,2.6,1.021327
$STATE,1708,end surface coast,CONTROL_FINISHED_OK
$STATE,1708,begin surface
$SM_CCo,1733,189.88,0.720,0,0,1200,500.17
$SM_GC,0.37,0.00,0.00,189.88,0.000,0.000,0.720,426,2153,1200,-10.23,-1.07,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,1742
$TCM_TEMP,18.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.8,18.6
$ALTIM_BOTTOM_PING,82.6,39.7
$24V_AH,24.0,1.539
$10V_AH,10.1,0.515
$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,24.450,20.625,227.675,189.875,0.000,37.759,24.872,73.972,2.000,0.000,0.000,15.806,272.009,859.688,477.926,356.769,225.040,33.355,703.626,0.000,350.499,0.000,10.192,0.000
$DEVICE_MAMPS,148.031,76.700,812.253,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,101.286,108.904,260.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6482,151
$CAP_FILE_SIZE,24615,0
$CFSIZE,254472192,252940288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,161008,033602,4806.260,-12222.226,9,1.4,14,18.3