version: 66.03
glider: 16
mission: 8
dive: 12
start: 4 30 108 7 58 27
data:
$ID,16
$MISSION,8
$DIVE,12
$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,62.5
$T_MISSION,80
$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,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,609.8158
$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,-2089236.8
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$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
$GPS1,074220,4806.668,-12222.984,28,1.7,41,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.2
$GPS2,075733,4806.525,-12222.855,15,1.1,15,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,0.300
$KALMAN_X,3057.8,495.3,-28.1,-3006.5,103.6
$KALMAN_Y,-6479.2,-980.8,-19.0,4408.9,-558.0
$MHEAD_RNG_PITCHd_Wd,330.2,897,-15.3,-8.000
$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,40,end surface,CONTROL_FINISHED_OK
$STATE,40,begin dive
$GC,43,-1.11,-138.9,0.0,0.0,0,122,0.00,0.00,-76.20,0.000,2,0.000,0.000,70,2504,2246
$GC,125,-1.18,-209.2,3.1,-5.3,14,210,10.75,2.62,-67.15,0.000,4,0.153,0.066,2036,1072,3837
$GC,234,-1.22,-244.1,6.2,-6.7,33,240,0.00,2.62,0.00,0.000,6,0.000,0.079,2036,2505,3836
$GC,309,-1.22,-244.4,10.5,-6.6,46,316,0.00,2.35,-0.08,0.000,4,0.000,0.081,2036,3766,3839
$GC,402,-1.22,-244.4,17.6,-7.5,62,408,0.00,2.30,0.00,0.000,6,0.000,0.049,2036,2495,3839
$GC,480,-1.22,-244.4,23.5,-7.5,72,485,0.00,2.62,0.00,0.000,4,0.000,0.063,2036,1082,3839
$GC,547,-1.22,-244.4,29.0,-8.0,77,554,0.00,2.60,0.00,0.000,6,0.000,0.054,2036,2498,3838
$GC,746,-1.22,-244.4,43.8,-7.2,96,750,0.00,2.62,0.00,0.000,4,0.000,0.060,2036,1083,3838
$GC,801,-1.22,-244.4,48.1,-7.4,100,807,0.00,2.60,0.00,0.000,6,0.000,0.054,2034,2501,3838
$GC,1005,-1.22,-244.4,61.9,-6.7,112,1009,0.00,2.62,0.00,0.000,4,0.000,0.060,2036,1082,3838
$GC,1077,-1.22,-244.4,66.9,-6.8,115,1082,0.00,2.62,0.00,0.000,6,0.000,0.054,2036,2505,3838
$GC,1394,-1.22,-244.4,88.0,-6.5,130,1398,0.00,2.62,0.00,0.000,4,0.000,0.058,2036,1083,3838
$GC,1494,-1.22,-244.4,94.8,-7.0,134,1500,0.00,2.60,0.00,0.000,6,0.000,0.054,2036,2501,3838
$STATE,1793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1793,begin apogee
$GC,1800,-0.31,0.0,114.5,6.6,159,1977,0.90,0.00,170.00,0.661,6,0.087,0.000,2225,2286,2994
$STATE,1978,end apogee,CONTROL_FINISHED_OK
$STATE,1978,begin climb
$GC,1981,1.22,244.4,116.8,0.0,177,2192,1.55,2.72,198.52,0.633,4,0.060,0.064,2568,3715,1998
$GC,2344,1.22,244.4,37.3,24.2,201,2350,0.00,2.62,0.00,0.000,6,0.000,0.061,2568,2309,1997
$STATE,2484,end climb,SURFACE_DEPTH_REACHED
$STATE,2484,begin surface coast
$FINISH,0.5,1.016132
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2526,184.88,0.555,2,0,509,609.82
$SM_GC,1.21,0.00,0.00,184.88,0.000,0.000,0.555,73,2513,509,-10.24,0.37,609.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1716
$TCM_TEMP,17.00
$XPDR_PINGS,45
$ALTIM_TOP_PING,17.8,16.8
$ALTIM_BOTTOM_PING,81.3,42.6
$24V_AH,23.7,1.791
$10V_AH,10.1,0.739
$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,24.275,36.925,368.525,184.875,0.000,89.592,239.326,230.868,12.250,0.000,0.000,15.800,383.158,1400.625,616.448,572.492,679.841,33.323,970.246,0.000,560.255,0.000,8.659
$DEVICE_MAMPS,153.400,80.535,661.154,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,150.390,155.832,385.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9653,223
$CAP_FILE_SIZE,41979,0
$CFSIZE,260165632,258887680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,300408,084439,4806.659,-12223.082,11,2.0,12,18.3