version: 66.03
glider: 16
mission: 8
dive: 5
start: 4 30 108 1 6 5
data:
$ID,16
$MISSION,8
$DIVE,5
$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,-2089078.6
$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,18
$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
$GPS1,005147,4806.532,-12222.527,12,3.1,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.6
$GPS2,010447,4806.310,-12222.314,10,2.9,29,18.3
$SPEED_LIMITS,0.173,0.331
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.177,0.279
$KALMAN_X,1120.6,492.1,246.8,-681.0,120.0
$KALMAN_Y,-1903.9,-852.2,-420.2,-285.4,-206.2
$MHEAD_RNG_PITCHd_Wd,308.1,1533,-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,-244.4,0.0,0.0,0,122,0.00,0.00,-75.90,0.000,2,0.000,0.000,75,2026,2338
$GC,125,-1.13,-244.4,3.1,-3.4,14,192,11.05,0.00,-51.92,0.000,6,0.164,0.000,2050,2026,3837
$GC,261,-1.13,-244.4,10.4,-5.7,38,268,0.00,2.62,0.00,0.000,4,0.000,0.061,2050,3440,3837
$GC,382,-1.13,-244.4,17.5,-6.6,59,388,0.00,2.55,0.00,0.000,6,0.000,0.048,2049,2027,3836
$GC,461,-1.13,-244.4,22.1,-5.9,70,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2026,3836
$GC,652,-1.13,-244.4,34.4,-6.5,88,656,0.00,2.62,0.00,0.000,4,0.000,0.063,2050,3438,3836
$GC,748,-1.13,-244.4,41.0,-7.5,96,753,0.00,2.55,0.00,0.000,6,0.000,0.081,2049,2033,3836
$GC,955,-1.13,-244.4,53.9,-6.2,112,959,0.00,2.62,0.00,0.000,4,0.000,0.065,2050,3438,3836
$GC,1033,-1.13,-244.4,59.3,-6.8,115,1040,0.00,2.55,-0.05,0.000,6,0.000,0.051,2050,2029,3842
$GC,1349,-1.13,-244.4,78.5,-6.1,131,1353,0.00,2.65,0.00,0.000,4,0.000,0.066,2050,3444,3841
$GC,1433,-1.13,-244.4,84.3,-7.2,135,1438,0.00,2.58,0.00,0.000,6,0.000,0.051,2050,2027,3841
$GC,1752,-1.13,-244.4,104.2,-6.0,153,1756,0.00,2.65,0.00,0.000,4,0.000,0.067,2049,3443,3841
$STATE,1793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1793,begin apogee
$GC,1803,-0.31,0.0,107.2,6.6,156,1979,0.85,0.00,168.18,0.653,6,0.087,0.000,2227,2033,2994
$STATE,1980,end apogee,CONTROL_FINISHED_OK
$STATE,1980,begin climb
$GC,1983,1.13,244.4,109.6,0.0,174,2189,1.42,2.70,195.18,0.624,4,0.058,0.064,2545,3436,1998
$GC,2253,1.13,244.4,58.6,23.3,190,2259,0.00,2.60,0.00,0.000,6,0.000,0.060,2545,2031,1998
$STATE,2526,end climb,SURFACE_DEPTH_REACHED
$STATE,2526,begin surface coast
$FINISH,4.6,1.016928
$STATE,2623,end surface coast,CONTROL_FINISHED_OK
$STATE,2623,begin surface
$SM_CCo,2627,225.40,0.560,4,0,509,609.82
$SM_GC,1.56,11.05,0.00,0.00,0.044,0.000,0.000,74,2030,512,-10.18,-0.06,609.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1725
$TCM_TEMP,17.00
$XPDR_PINGS,150
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,80.4,47.0
$24V_AH,23.7,1.008
$10V_AH,10.1,0.469
$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,24.375,31.300,363.350,225.400,0.000,54.391,170.240,298.180,38.500,0.000,0.000,30.272,426.549,1459.040,665.615,591.955,659.153,33.319,999.263,0.000,566.897,0.000,8.678
$DEVICE_MAMPS,164.138,80.535,653.484,559.910,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,164.316,166.692,415.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12821,240
$CAP_FILE_SIZE,41506,0
$CFSIZE,260165632,259084288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,4,0
$GPS,300408,015659,4806.368,-12222.406,13,2.4,33,18.3