version: 66.02
glider: 16
mission: 5
dive: 4
start: 10 8 107 23 40 32
data:
$ID,16
$MISSION,5
$DIVE,4
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,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,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,660
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2073772.5
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2285
$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
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2425
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3224
$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,-20.028774
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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,3
$ALTIM_SENSITIVITY,2
$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,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,233039,4806.750,-12222.968,11,1.7,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-55.1
$GPS2,233939,4806.658,-12222.940,15,1.7,15,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.048,0.259
$KALMAN_X,240.3,139.1,120.0,-430.6,55.3
$KALMAN_Y,-665.2,-293.7,-234.1,-623.2,-145.5
$MHEAD_RNG_PITCHd_Wd,331.1,638,-18.1,-10.000
$D_GRID,103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,134,0.00,0.00,-115.18,0.000,2,0.000,0.000,76,2454,3579
$GC,136,-1.29,-146.6,3.0,-4.2,21,155,10.80,0.00,-5.75,0.000,6,0.171,0.000,2000,2454,3824
$GC,223,-1.29,-146.6,13.8,-9.9,36,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2453,3823
$GC,300,-1.29,-146.6,21.4,-10.1,49,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2454,3823
$GC,491,-1.29,-146.6,41.7,-10.9,67,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2454,3822
$GC,679,-1.29,-146.6,62.7,-11.5,80,683,0.00,2.40,0.00,0.000,4,0.000,0.060,2000,3771,3822
$GC,733,-1.29,-146.6,69.4,-12.4,82,741,0.00,2.38,0.00,0.000,6,0.000,0.043,2000,2451,3822
$GC,1050,-1.29,-146.6,102.9,-10.8,99,1054,0.00,2.17,0.00,0.000,3,0.000,0.060,1999,3649,3822
$STATE,1055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1055,begin apogee
$GC,1060,-0.31,0.0,103.3,10.6,99,1177,1.05,0.00,110.35,0.743,6,0.116,0.000,2208,2417,3224
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1179,1.29,146.6,105.9,0.0,111,1293,1.65,0.00,109.28,0.731,6,0.076,0.000,2563,2417,2626
$GC,1593,1.29,146.6,41.3,16.9,137,1597,0.00,2.58,0.00,0.000,4,0.000,0.059,2563,1015,2626
$GC,1631,1.29,146.6,34.9,16.2,140,1636,0.00,2.53,0.00,0.000,6,0.000,0.043,2563,2429,2626
$STATE,1827,end climb,SURFACE_DEPTH_REACHED
$STATE,1827,begin surface coast
$FINISH,1.4,1.019270
$STATE,1856,end surface coast,CONTROL_FINISHED_OK
$STATE,1856,begin surface
$SM_CCo,1873,269.42,0.640,0,0,533,660.10
$SM_GC,1.17,0.00,0.00,269.42,0.000,0.000,0.640,74,2430,533,-10.17,-0.57,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2079
$TCM_TEMP,18.20
$XPDR_PINGS,243
$24V_AH,23.8,4.884
$10V_AH,10.2,2.012
$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,24.675,14.275,219.625,269.425,0.000,0.000,0.000,0.000,62.000,0.000,0.000,15.226,287.782,966.400,552.902,385.883,21.179,32.335,790.219,0.000,381.630,0.000,8.604
$DEVICE_MAMPS,171.041,59.826,743.223,639.678,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,114.012,129.136,297.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6533,172
$CFSIZE,260165632,259252224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091007,001657,4806.817,-12222.826,11,1.2,12,18.3