version: 66.04
glider: 16
mission: 10
dive: 27
start: 10 16 108 12 8 42
data:
$ID,16
$MISSION,10
$DIVE,27
$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,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,0
$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,62
$TGT_DEFAULT_LON,-6.8000002
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2104407
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2260
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,3225
$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,0
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.715818
$PRESSURE_SLOPE,0.0001162269
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,120045,4806.414,-12222.322,14,1.8,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.6
$GPS2,120750,4806.503,-12222.400,10,1.6,15,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,-0.199
$KALMAN_X,2637.0,-13348.0,5299.5,6382.2,-108.2
$KALMAN_Y,4342.5,10503.7,-4328.1,-12958.5,2090.4
$MHEAD_RNG_PITCHd_Wd,133.7,1055,-11.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.89,-139.4,0.0,0.0,0,95,0.00,0.00,-75.72,0.000,2,0.000,0.000,76,2037,3500
$GC,99,-0.90,-146.6,3.0,-3.6,13,125,11.52,2.65,-7.20,0.000,4,0.180,0.081,2055,3448,3822
$GC,172,-0.62,-146.6,14.9,-11.3,25,179,0.35,2.60,0.00,0.000,6,0.108,0.058,2122,2031,3823
$GC,248,-0.66,-146.6,19.2,-4.7,38,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2030,3823
$GC,320,-0.66,-146.6,22.4,-4.5,46,324,0.00,2.67,0.00,0.000,4,0.000,0.069,2122,3447,3823
$GC,383,-0.72,-146.6,25.5,-5.0,51,387,0.00,2.60,0.00,0.000,6,0.000,0.057,2122,2033,3823
$GC,582,-0.79,-146.6,34.8,-4.8,69,587,0.15,2.67,0.00,0.000,4,0.041,0.069,2071,3448,3823
$GC,737,-0.65,-146.6,45.7,-7.6,82,742,0.22,2.62,0.00,0.000,6,0.089,0.059,2115,2031,3823
$GC,932,-0.72,-146.6,54.7,-4.3,95,936,0.00,2.67,0.00,0.000,4,0.000,0.070,2115,3450,3823
$GC,1017,-0.81,-146.6,59.0,-5.8,99,1023,0.15,2.62,0.00,0.000,6,0.040,0.059,2067,2027,3822
$STATE,1057,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1057,begin apogee
$GC,1064,-0.31,0.0,61.2,5.8,101,1183,0.62,0.00,116.25,0.625,6,0.100,0.000,2189,2027,3225
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1187,0.90,146.6,63.7,0.0,107,1307,1.33,0.00,116.07,0.614,6,0.100,0.000,2451,2026,2626
$GC,1613,0.79,146.6,26.4,9.0,139,1618,0.00,2.70,0.00,0.000,4,0.000,0.071,2451,3447,2625
$GC,1693,0.66,146.6,18.5,9.9,146,1701,0.25,2.62,0.00,0.000,6,0.094,0.063,2403,2032,2625
$GC,1770,0.66,146.6,12.5,7.3,159,1776,0.00,2.65,0.00,0.000,4,0.000,0.065,2403,603,2626
$GC,1851,0.80,178.9,7.5,5.3,173,1883,0.15,2.60,26.42,0.577,6,0.054,0.045,2436,2040,2495
$STATE,1921,end climb,SURFACE_DEPTH_REACHED
$STATE,1921,begin surface coast
$FINISH,0.5,1.019000
$STATE,2012,end surface coast,CONTROL_FINISHED_OK
$STATE,2012,begin surface
$SM_CCo,2033,117.00,0.581,0,0,1594,400.08
$SM_GC,1.03,0.00,0.00,117.00,0.000,0.000,0.581,73,2040,1594,-10.06,0.23,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1848
$TCM_TEMP,18.20
$XPDR_PINGS,77
$ALTIM_TOP_PING,19.6,6.0
$ALTIM_BOTTOM_PING,61.2,6.1
$24V_AH,23.7,2.313
$10V_AH,10.1,0.900
$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,25.150,31.700,258.750,117.000,0.000,36.147,109.724,125.170,20.000,0.000,0.000,15.224,377.707,925.449,446.859,472.642,370.576,33.308,705.119,0.000,467.695,0.000,7.658,0.000
$DEVICE_MAMPS,180.245,80.535,625.105,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,136.194,151.395,347.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9691,201
$CAP_FILE_SIZE,35751,0
$CFSIZE,260165632,258695168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,161008,124532,4806.455,-12222.285,10,1.5,21,18.3