version: 66.02
glider: 16
mission: 5
dive: 14
start: 10 9 107 7 59 50
data:
$ID,16
$MISSION,5
$DIVE,14
$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,80
$T_MISSION,100
$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,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,-2074126.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2275
$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,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,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,0.004349953
$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
$GPS1,074840,4807.571,-12223.536,7,2.2,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.2
$GPS2,075859,4807.513,-12223.474,13,2.1,32,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,0.109
$KALMAN_X,4069.9,437.7,73.0,-5166.1,780.3
$KALMAN_Y,-3325.9,-327.7,164.3,3241.1,-298.2
$MHEAD_RNG_PITCHd_Wd,280.7,1113,-11.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.88,-146.6,0.0,0.0,0,134,0.00,0.00,-115.07,0.000,2,0.000,0.000,74,2452,3682
$GC,136,-0.88,-146.6,3.5,-2.8,21,161,11.35,2.47,-3.20,0.000,4,0.172,0.073,2079,3764,3823
$GC,211,-0.88,-146.6,13.2,-8.1,34,218,0.00,2.33,0.00,0.000,6,0.000,0.041,2079,2452,3822
$GC,285,-0.88,-146.6,19.9,-8.9,47,291,0.00,2.58,0.00,0.000,4,0.000,0.058,2079,1037,3822
$GC,375,-0.88,-146.6,27.0,-7.8,56,379,0.00,2.55,0.00,0.000,6,0.000,0.045,2079,2451,3822
$GC,571,-0.88,-146.6,40.4,-6.6,74,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2451,3821
$GC,761,-0.88,-146.6,53.0,-6.6,90,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2450,3820
$GC,1071,-0.88,-146.6,72.9,-6.1,105,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2451,3820
$GC,1380,-0.88,-146.6,92.3,-6.2,120,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2451,3820
$STATE,1672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1672,begin apogee
$GC,1676,-0.31,0.0,109.9,5.7,141,1795,0.62,0.00,110.90,0.725,6,0.089,0.000,2207,2388,3223
$STATE,1796,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1797,0.88,146.6,111.5,0.0,153,1916,1.17,2.60,110.28,0.708,4,0.069,0.051,2464,1004,2625
$GC,1976,0.88,146.6,95.5,11.9,168,1981,0.00,2.53,0.00,0.000,6,0.000,0.042,2465,2397,2626
$GC,2298,0.88,146.6,60.8,10.5,184,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2397,2626
$GC,2613,0.88,146.6,29.2,10.0,208,2617,0.00,2.55,0.00,0.000,4,0.000,0.053,2465,998,2627
$GC,2735,0.88,146.6,16.9,9.8,221,2742,0.00,2.47,0.00,0.000,6,0.000,0.043,2465,2400,2628
$GC,2809,0.88,146.6,10.5,8.6,234,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2400,2627
$GC,2881,0.88,146.6,5.4,6.7,247,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2400,2628
$STATE,2908,end climb,SURFACE_DEPTH_REACHED
$STATE,2908,begin surface coast
$FINISH,2.0,1.019856
$STATE,2982,end surface coast,CONTROL_FINISHED_OK
$STATE,2982,begin surface
$SM_CCo,2999,283.05,0.633,1,0,533,660.10
$SM_GC,1.24,0.00,0.00,283.05,0.000,0.000,0.633,72,2454,533,-10.13,0.14,660.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2060
$TCM_TEMP,18.40
$XPDR_PINGS,188
$ALTIM_BOTTOM_PING,80.8,39.2
$24V_AH,23.8,6.023
$10V_AH,10.2,2.343
$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,23.775,20.275,221.175,283.050,0.000,97.812,243.783,77.911,48.000,0.000,0.000,33.274,433.960,1851.100,582.184,604.216,454.315,33.319,898.348,0.000,579.724,0.000,8.547
$DEVICE_MAMPS,171.808,72.865,724.815,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,177.406,196.110,458.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12835,265
$CFSIZE,260165632,259047424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,091007,085537,4807.808,-12223.808,11,1.7,28,18.3