version: 66.03
glider: 16
mission: 8
dive: 21
start: 4 30 108 15 45 55
data:
$ID,16
$MISSION,8
$DIVE,21
$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,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,-2089465.5
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,154050,4806.054,-12222.002,8,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.0
$GPS2,154502,4806.042,-12221.975,17,1.3,34,18.3
$SPEED_LIMITS,0.139,0.305
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.273
$KALMAN_X,5245.3,-1234.8,-235.4,-2172.0,241.1
$KALMAN_Y,-13780.5,1480.3,818.7,7515.0,-625.2
$MHEAD_RNG_PITCHd_Wd,307.1,4406,-11.0,-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,-0.95,-244.4,0.0,0.0,0,171,0.00,0.00,-124.50,0.000,2,0.000,0.000,70,2504,3158
$GC,174,-0.95,-244.4,3.1,-1.8,23,220,11.25,2.38,-27.77,0.000,4,0.162,0.084,2088,3768,3836
$GC,239,-0.95,-244.4,5.6,-5.2,34,246,0.00,2.30,-0.10,0.000,6,0.000,0.051,2088,2495,3839
$GC,315,-0.95,-244.4,9.5,-5.0,47,321,0.00,2.60,0.00,0.000,4,0.000,0.062,2088,1086,3838
$GC,373,-0.95,-244.4,12.6,-5.1,57,380,0.00,2.62,0.00,0.000,6,0.000,0.059,2088,2501,3837
$GC,449,-0.95,-244.4,16.1,-4.5,70,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3836
$GC,524,-0.95,-244.4,19.7,-4.8,83,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3836
$GC,594,-0.95,-244.4,23.1,-4.6,90,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2501,3836
$GC,785,-0.95,-244.4,32.0,-4.5,108,790,0.00,2.62,0.00,0.000,4,0.000,0.060,2088,1086,3836
$GC,841,-0.95,-244.4,35.0,-5.5,112,848,0.00,2.62,-0.05,0.000,6,0.000,0.060,2088,2501,3841
$GC,1039,-0.95,-244.4,45.1,-5.2,131,1044,0.00,2.62,0.00,0.000,4,0.000,0.061,2088,1088,3841
$GC,1080,-0.95,-244.4,47.2,-5.7,134,1085,0.00,2.62,0.00,0.000,6,0.000,0.060,2088,2500,3841
$GC,1285,-0.95,-244.4,57.4,-5.0,146,1289,0.00,2.62,0.00,0.000,4,0.000,0.060,2088,1084,3841
$GC,1325,-0.95,-244.4,59.4,-5.1,148,1329,0.00,2.62,0.00,0.000,6,0.000,0.061,2088,2502,3842
$GC,1652,-0.95,-244.4,76.9,-5.4,164,1656,0.00,2.40,0.00,0.000,4,0.000,0.076,2088,3771,3841
$GC,1747,-0.95,-244.4,82.1,-5.5,168,1751,0.00,2.30,0.00,0.000,6,0.000,0.051,2088,2503,3841
$GC,2064,-0.95,-244.4,98.7,-5.5,183,2068,0.00,2.42,0.00,0.000,4,0.000,0.077,2088,3774,3841
$GC,2091,-0.95,-244.4,100.2,-5.8,184,2095,0.00,2.33,0.00,0.000,6,0.000,0.053,2088,2500,3841
$STATE,2345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2345,begin apogee
$GC,2352,-0.31,0.0,114.9,5.5,208,2529,0.65,0.00,170.95,0.666,6,0.071,0.000,2230,2291,2995
$STATE,2530,end apogee,CONTROL_FINISHED_OK
$STATE,2530,begin climb
$GC,2533,0.95,244.4,119.8,0.0,226,2745,1.23,2.78,197.25,0.639,4,0.052,0.073,2508,3704,1998
$GC,2823,0.95,244.4,71.6,20.1,247,2828,0.00,2.62,0.00,0.000,6,0.000,0.064,2508,2308,1998
$GC,3147,0.95,244.4,11.3,17.7,275,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2309,1998
$STATE,3190,end climb,SURFACE_DEPTH_REACHED
$STATE,3190,begin surface coast
$FINISH,0.5,1.016757
$STATE,3214,end surface coast,CONTROL_FINISHED_OK
$STATE,3214,begin surface
$SM_CCo,3236,179.23,0.567,2,0,549,600.00
$SM_GC,1.30,0.00,0.00,179.23,0.000,0.000,0.567,72,2505,549,-10.24,0.14,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1716
$TCM_TEMP,17.00
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,100.2,24.2
$24V_AH,23.7,2.682
$10V_AH,10.1,1.067
$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,23.850,41.250,368.200,179.225,0.000,18.139,26.980,96.536,4.250,0.000,0.000,36.328,483.502,1631.097,622.265,700.294,256.435,33.305,1024.065,0.000,666.867,0.000,11.699
$DEVICE_MAMPS,161.837,83.603,665.756,566.813,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,194.280,201.566,496.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12849,287
$CAP_FILE_SIZE,43063,0
$CFSIZE,260165632,258670592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,300408,164407,4806.164,-12222.198,12,1.2,29,18.3