version: 66.03
glider: 16
mission: 8
dive: 4
start: 4 29 108 23 57 24
data:
$ID,16
$MISSION,8
$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,250
$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,600
$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,-2089047.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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
$ROLL_DEG,40
$C_ROLL_DIVE,2032
$C_ROLL_CLIMB,2032
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2995
$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,-20.153397
$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,70
$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,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,234047,4806.812,-12222.639,13,2.5,32,18.3
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-56.6
$GPS2,235607,4806.530,-12222.450,35,1.6,45,18.3
$SPEED_LIMITS,0.173,0.331
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.198,0.265
$KALMAN_X,754.4,345.1,265.7,-353.9,97.5
$KALMAN_Y,-1276.6,-615.5,-467.4,-691.8,-153.7
$MHEAD_RNG_PITCHd_Wd,303.7,1104,-13.8,-10.000
$D_GRID,107
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.13,-244.4,0.0,0.0,0,127,0.00,0.00,-81.30,0.000,2,0.000,0.000,69,2022,2397
$GC,131,-1.13,-244.4,3.0,-3.9,15,199,11.02,2.65,-51.20,0.000,4,0.165,0.068,2049,3441,3836
$GC,212,-1.13,-244.4,6.8,-7.7,29,218,0.00,2.53,0.00,0.000,6,0.000,0.046,2049,2028,3836
$GC,287,-1.13,-244.4,11.2,-6.4,42,294,0.00,2.60,0.00,0.000,4,0.000,0.058,2049,3443,3836
$GC,351,-1.13,-244.4,15.0,-5.8,53,358,0.00,2.55,0.00,0.000,6,0.000,0.049,2049,2031,3836
$GC,427,-1.13,-244.4,19.4,-5.9,66,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2031,3836
$GC,503,-1.13,-244.4,24.0,-6.0,74,508,0.00,2.62,0.00,0.000,4,0.000,0.061,2049,3447,3835
$GC,544,-1.13,-244.4,26.8,-7.4,77,549,0.00,2.58,-0.05,0.000,6,0.000,0.050,2049,2033,3839
$GC,742,-1.13,-244.4,39.8,-6.4,95,747,0.00,2.62,0.00,0.000,4,0.000,0.062,2049,3443,3839
$GC,798,-1.13,-244.4,43.8,-6.9,99,804,0.00,2.55,0.00,0.000,6,0.000,0.051,2049,2032,3839
$GC,1004,-1.13,-244.4,56.9,-6.4,114,1008,0.00,2.62,0.00,0.000,4,0.000,0.063,2049,3441,3839
$GC,1070,-1.13,-244.4,61.5,-7.3,117,1075,0.00,2.58,0.00,0.000,6,0.000,0.051,2049,2029,3839
$GC,1392,-1.13,-244.4,81.4,-6.2,133,1397,0.00,2.62,0.00,0.000,4,0.000,0.064,2049,3440,3839
$GC,1478,-1.13,-244.4,87.0,-6.8,137,1482,0.00,2.55,0.00,0.000,6,0.000,0.051,2049,2032,3839
$GC,1799,-1.13,-244.4,105.5,-5.5,157,1804,0.00,2.62,0.00,0.000,4,0.000,0.066,2050,3445,3838
$STATE,1807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1807,begin apogee
$GC,1816,-0.31,0.0,106.5,5.7,157,1988,0.85,0.00,167.27,0.647,6,0.084,0.000,2227,2031,2994
$STATE,1988,end apogee,CONTROL_FINISHED_OK
$STATE,1988,begin climb
$GC,1991,1.13,244.4,108.5,0.0,174,2192,1.42,0.00,194.82,0.619,6,0.055,0.000,2546,2031,1998
$GC,2499,1.13,244.4,5.8,16.1,217,2506,0.00,2.62,0.00,0.000,4,0.000,0.064,2546,3439,1997
$GC,2760,1.52,606.2,4.6,0.1,263,2817,0.38,2.60,50.55,0.577,2,0.045,0.054,2634,2027,1728
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2818,begin surface coast
$FINISH,2.6,1.016359
$STATE,3030,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3030,begin surface
$SM_CCo,3052,139.93,0.564,0,0,549,600.00
$SM_GC,1.84,0.00,0.00,139.93,0.000,0.000,0.564,75,2026,549,-10.24,-0.20,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1753
$TCM_TEMP,17.20
$XPDR_PINGS,173
$ALTIM_TOP_PING,18.8,17.9
$24V_AH,23.7,0.875
$10V_AH,10.1,0.426
$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,25.375,41.525,412.650,139.925,0.000,72.134,199.884,308.252,45.000,0.000,0.000,45.691,520.759,1564.528,595.141,732.629,738.677,32.325,990.921,0.000,686.539,0.000,14.473
$DEVICE_MAMPS,164.905,68.263,647.348,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.032,211.207,537.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15965,311
$CAP_FILE_SIZE,47213,1
$CFSIZE,260165632,259104768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300408,005147,4806.532,-12222.527,12,3.1,32,18.3