version: 66.04
glider: 5
mission: 4
dive: 26
start: 10 16 108 16 34 28
data:
$ID,5
$MISSION,4
$DIVE,26
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,400
$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,-86063.461
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,162859,4807.683,-12224.040,10,4.7,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-66.5
$GPS2,163335,4807.738,-12224.106,16,4.7,35,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,0.036
$KALMAN_X,-1043.8,-42.1,-305.7,310.6,29.6
$KALMAN_Y,4427.1,-124.5,381.6,-5004.5,446.7
$MHEAD_RNG_PITCHd_Wd,52.0,503,-27.4,-6.250
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.87,-30.7,0.0,0.0,0,99,0.00,0.00,-79.97,0.000,6,0.000,0.000,421,2177,3365
$GC,102,-1.88,-38.1,3.5,-5.2,14,122,9.32,2.60,-0.82,0.000,4,0.133,0.072,2234,3594,3397
$GC,376,-1.48,-38.1,27.1,-6.6,51,382,0.45,2.47,0.00,0.000,6,0.107,0.046,2325,2185,3397
$GC,575,-1.44,-42.3,37.6,-5.7,69,580,0.00,2.60,-0.20,0.000,4,0.000,0.074,2324,3595,3415
$GC,796,-1.34,-42.3,52.4,-6.7,87,801,0.17,2.55,0.00,0.000,6,0.107,0.046,2356,2151,3415
$GC,1127,-1.43,-47.9,71.0,-5.5,103,1131,0.00,2.42,0.00,0.000,4,0.000,0.058,2357,778,3415
$GC,1155,-1.49,-48.7,73.0,-6.1,104,1160,0.15,2.42,0.00,0.000,6,0.053,0.049,2319,2136,3415
$GC,1472,-1.50,-51.0,92.5,-5.9,119,1476,0.00,2.42,0.00,0.000,4,0.000,0.055,2319,785,3415
$GC,1512,-1.44,-51.0,95.0,-6.5,121,1517,0.00,2.38,0.00,0.000,6,0.000,0.049,2319,2123,3415
$STATE,1738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1738,begin apogee
$GC,1745,-0.33,0.0,108.0,5.5,138,1783,1.20,0.00,34.92,0.817,6,0.092,0.000,2569,2203,3240
$STATE,1784,end apogee,CONTROL_FINISHED_OK
$STATE,1784,begin climb
$GC,1787,1.91,51.0,109.0,0.0,142,1840,2.22,2.65,40.83,0.818,4,0.057,0.054,3068,779,3031
$GC,1847,1.59,51.0,104.1,11.3,147,1854,0.38,2.53,0.00,0.000,6,0.107,0.049,2998,2178,3031
$GC,2174,1.51,51.0,63.1,12.2,165,2179,0.00,2.53,0.00,0.000,4,0.000,0.056,2998,781,3031
$GC,2208,1.42,51.0,58.7,12.4,166,2215,0.20,2.50,0.00,0.000,6,0.098,0.048,2958,2185,3031
$GC,2533,1.50,51.0,26.6,9.2,193,2538,0.00,2.53,0.00,0.000,4,0.000,0.059,2958,3597,3031
$GC,2585,1.50,51.0,21.7,9.0,197,2589,0.00,2.47,0.00,0.000,6,0.000,0.045,2958,2193,3030
$GC,2793,1.60,61.6,6.2,4.8,231,2807,0.20,0.00,9.00,0.676,6,0.048,0.000,3013,2174,2989
$GC,2876,1.75,113.8,5.1,-0.9,245,2925,0.00,2.62,39.05,0.759,4,0.000,0.058,3013,3594,2775
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,4.1,1.020941
$STATE,3435,end surface coast,CONTROL_FINISHED_OK
$STATE,3435,begin surface
$SM_CCo,3439,318.73,0.732,0,0,389,699.10
$SM_GC,0.59,11.43,0.00,0.00,0.038,0.000,0.000,420,2173,393,-10.17,-0.34,698.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1721
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,81.1,36.8
$24V_AH,24.0,2.778
$10V_AH,10.1,1.068
$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,25.725,40.400,123.800,318.725,0.000,37.756,25.481,98.968,2.000,0.000,0.000,38.159,598.477,1972.329,525.542,782.761,283.717,33.308,883.843,0.000,758.127,0.000,10.191,0.000
$DEVICE_MAMPS,132.691,73.632,818.389,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.725,263.143,593.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15956,344
$CAP_FILE_SIZE,45528,0
$CFSIZE,254472192,252547072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,161008,173951,4807.877,-12223.958,12,2.0,13,18.3