version: 66.02
glider: 16
mission: 5
dive: 6
start: 10 9 107 1 40 53
data:
$ID,16
$MISSION,5
$DIVE,6
$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,-2073939.9
$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,20
$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,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,5
$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
$GPS1,013605,4806.547,-12222.544,11,4.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.7
$GPS2,013957,4806.501,-12222.519,12,2.0,12,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.229
$KALMAN_X,658.1,378.3,109.5,-560.3,93.2
$KALMAN_Y,-1449.4,-680.6,-240.8,256.2,-201.3
$MHEAD_RNG_PITCHd_Wd,312.2,1098,-18.1,-10.000
$D_GRID,105
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.29,-146.6,0.0,0.0,0,133,0.00,0.00,-114.90,0.000,2,0.000,0.000,74,2427,3602
$GC,135,-1.29,-146.6,3.0,-3.6,21,154,10.88,0.00,-5.47,0.000,6,0.170,0.000,2001,2427,3824
$GC,221,-1.29,-146.6,13.4,-10.6,36,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2427,3823
$GC,293,-1.29,-146.6,21.5,-11.5,48,297,0.00,2.45,0.00,0.000,4,0.000,0.060,2001,3769,3822
$GC,341,-1.29,-146.6,27.2,-11.5,52,349,0.00,2.38,0.00,0.000,6,0.000,0.041,2001,2457,3822
$GC,539,-1.29,-146.6,49.0,-11.1,71,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2457,3822
$GC,737,-1.29,-146.6,71.1,-11.1,81,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2458,3822
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1049,-0.31,0.0,105.2,10.8,98,1168,1.05,0.00,110.57,0.734,6,0.100,0.000,2212,2414,3224
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1170,1.29,146.6,107.3,0.0,110,1289,1.58,2.62,109.80,0.706,4,0.059,0.058,2561,1030,2625
$GC,1332,1.29,146.6,87.1,17.0,122,1340,0.00,2.53,0.00,0.000,6,0.000,0.042,2561,2423,2625
$GC,1651,1.29,146.6,31.7,16.9,143,1655,0.00,2.58,0.00,0.000,4,0.000,0.054,2561,1016,2625
$GC,1694,1.29,146.6,24.4,16.8,146,1701,0.00,2.50,0.00,0.000,6,0.000,0.041,2560,2425,2625
$STATE,1832,end climb,SURFACE_DEPTH_REACHED
$STATE,1832,begin surface coast
$FINISH,0.7,1.016807
$STATE,1861,end surface coast,CONTROL_FINISHED_OK
$STATE,1862,begin surface
$SM_CCo,1878,267.02,0.632,0,0,532,660.10
$SM_GC,1.16,0.00,0.00,267.02,0.000,0.000,0.632,72,2425,532,-10.18,-0.71,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2068
$TCM_TEMP,18.30
$XPDR_PINGS,146
$ALTIM_BOTTOM_PING,100.6,24.1
$24V_AH,23.8,5.151
$10V_AH,10.2,2.087
$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,24.550,15.100,220.375,267.025,0.000,32.618,32.072,108.476,38.250,0.000,0.000,12.446,291.550,952.986,555.059,398.088,204.116,33.322,800.086,0.000,391.425,0.000,14.426
$DEVICE_MAMPS,170.274,105.079,734.019,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,114.007,126.664,299.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6540,173
$CFSIZE,260165632,259239936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091007,021738,4806.646,-12222.455,11,1.4,28,18.3