version: 66.03
glider: 16
mission: 8
dive: 8
start: 4 30 108 3 54 40
data:
$ID,16
$MISSION,8
$DIVE,8
$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,-2089159.4
$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,15
$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
$GPS1,034926,4806.304,-12222.398,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.0
$GPS2,035321,4806.241,-12222.344,15,1.8,15,18.3
$SPEED_LIMITS,0.173,0.331
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.289
$KALMAN_X,1947.8,667.2,187.1,-1653.9,60.8
$KALMAN_Y,-3381.0,-1161.8,-323.2,1267.6,-125.5
$MHEAD_RNG_PITCHd_Wd,311.7,1622,-13.8,-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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,44,-1.13,-244.4,0.0,0.0,0,94,0.00,0.00,-48.53,0.000,2,0.000,0.000,72,2028,1670
$GC,98,-1.13,-244.4,3.0,-7.1,9,192,10.90,0.00,-78.95,0.000,6,0.156,0.000,2050,2029,3837
$GC,263,-1.13,-244.4,10.3,-5.8,38,270,0.00,2.62,0.00,0.000,4,0.000,0.065,2050,3438,3836
$GC,383,-1.13,-244.4,17.3,-5.8,59,390,0.00,2.58,0.00,0.000,6,0.000,0.050,2050,2022,3836
$GC,458,-1.13,-244.4,21.7,-6.2,70,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2022,3836
$GC,649,-1.13,-244.4,34.0,-6.5,88,654,0.00,2.67,-0.08,0.000,4,0.000,0.077,2050,3444,3842
$GC,717,-1.13,-244.4,38.6,-6.8,93,723,0.00,2.55,0.00,0.000,6,0.000,0.051,2050,2032,3842
$GC,915,-1.13,-244.4,50.5,-6.0,112,919,0.00,2.65,0.00,0.000,4,0.000,0.068,2050,3439,3842
$GC,978,-1.13,-244.4,54.8,-6.7,115,983,0.00,2.58,0.00,0.000,6,0.000,0.052,2050,2033,3842
$GC,1306,-1.13,-244.4,74.0,-5.8,131,1310,0.00,2.62,0.00,0.000,4,0.000,0.069,2050,3438,3841
$GC,1391,-1.13,-244.4,79.5,-6.5,135,1396,0.00,2.58,0.00,0.000,6,0.000,0.054,2050,2028,3841
$GC,1724,-1.13,-244.4,99.6,-6.3,151,1728,0.00,2.65,0.00,0.000,4,0.000,0.070,2050,3438,3841
$STATE,1806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1806,begin apogee
$GC,1815,-0.31,0.0,105.2,6.4,158,1986,0.85,0.00,167.23,0.664,6,0.087,0.000,2228,2029,2995
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1987,begin climb
$GC,1990,1.13,244.4,109.0,0.0,175,2196,1.40,2.72,194.65,0.636,4,0.049,0.067,2545,3434,1998
$GC,2289,1.13,244.4,52.2,22.0,193,2294,0.00,2.62,0.00,0.000,6,0.000,0.061,2545,2030,1998
$STATE,2509,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,3.2,1.014697
$STATE,2533,end surface coast,CONTROL_FINISHED_OK
$STATE,2533,begin surface
$SM_CCo,2555,198.00,0.564,3,0,548,600.00
$SM_GC,1.44,0.00,0.00,198.00,0.000,0.000,0.564,74,2029,548,-10.24,-0.08,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1709
$TCM_TEMP,16.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.4,18.6
$ALTIM_BOTTOM_PING,90.7,36.9
$24V_AH,23.7,1.342
$10V_AH,10.1,0.577
$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,24.300,31.450,361.875,198.000,0.000,18.189,33.052,94.681,3.750,0.000,0.000,15.857,410.791,1200.753,627.312,555.680,253.162,33.318,951.701,0.000,544.259,0.000,10.199
$DEVICE_MAMPS,156.468,76.700,664.222,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,151.806,156.271,387.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9696,224
$CAP_FILE_SIZE,34550,0
$CFSIZE,260165632,259018752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,300408,044159,4806.403,-12222.532,11,5.3,31,18.3