version: 66.04
glider: 5
mission: 4
dive: 10
start: 10 16 108 1 45 54
data:
$ID,5
$MISSION,4
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,50
$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,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-85719.734
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.906118
$PRESSURE_SLOPE,0.000115925
$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,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,014020,4806.850,-12222.799,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-66.2
$GPS2,014434,4806.857,-12222.807,15,2.2,34,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,-0.234
$KALMAN_X,-156.7,-114.4,4.3,792.2,10.0
$KALMAN_Y,1585.9,599.5,57.9,-4199.9,68.1
$MHEAD_RNG_PITCHd_Wd,134.2,1875,-18.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,128,0.00,0.00,-109.47,0.000,2,0.000,0.000,424,2181,3613
$GC,131,-1.44,-146.6,4.1,-9.5,19,151,10.18,0.00,-5.15,0.000,6,0.150,0.000,2329,2182,3838
$GC,219,-1.44,-146.6,22.0,-14.3,33,223,0.00,2.60,0.00,0.000,4,0.000,0.066,2329,3600,3839
$GC,270,-1.44,-146.6,29.8,-15.1,37,274,0.00,2.55,0.00,0.000,6,0.000,0.048,2329,2169,3839
$GC,477,-1.44,-146.6,58.8,-14.2,53,481,0.00,2.65,0.00,0.000,4,0.000,0.066,2329,3605,3839
$GC,540,-1.44,-146.6,68.4,-15.1,56,544,0.00,2.50,0.00,0.000,6,0.000,0.049,2329,2202,3839
$STATE,792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,792,begin apogee
$GC,799,-0.33,0.0,105.7,14.7,70,918,1.15,0.00,115.07,0.814,6,0.091,0.000,2570,2184,3240
$STATE,919,end apogee,CONTROL_FINISHED_OK
$STATE,919,begin climb
$GC,922,1.44,146.6,110.2,0.0,82,1043,1.77,2.62,113.03,0.794,4,0.059,0.059,2960,785,2642
$GC,1083,1.44,146.6,92.7,15.5,95,1087,0.00,2.55,0.00,0.000,6,0.000,0.051,2960,2194,2641
$GC,1405,1.44,146.6,43.3,14.6,113,1410,0.00,2.55,0.00,0.000,4,0.000,0.064,2960,3601,2641
$GC,1450,1.44,146.6,36.0,16.3,116,1456,0.00,2.50,0.00,0.000,6,0.000,0.048,2960,2196,2641
$GC,1654,1.44,146.6,6.8,11.4,143,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2178,2641
$STATE,1682,end climb,SURFACE_DEPTH_REACHED
$STATE,1682,begin surface coast
$FINISH,0.8,1.020261
$STATE,1727,end surface coast,CONTROL_FINISHED_OK
$STATE,1727,begin surface
$SM_CCo,1749,188.98,0.729,1,0,1200,500.17
$SM_GC,0.35,0.00,0.00,188.98,0.000,0.000,0.729,428,2171,1200,-10.22,-0.54,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1741
$TCM_TEMP,18.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.8,18.7
$ALTIM_BOTTOM_PING,83.0,38.6
$24V_AH,24.0,1.345
$10V_AH,10.1,0.463
$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,Compass2
$DEVICE_SECS,24.425,20.525,228.100,188.975,0.000,37.753,28.180,82.467,2.250,0.000,0.000,35.506,284.137,832.176,480.853,401.990,244.661,33.335,719.973,0.000,374.561,0.000,10.190,0.000
$DEVICE_MAMPS,149.565,65.962,813.787,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,104.615,109.350,268.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6536,156
$CAP_FILE_SIZE,26422,0
$CFSIZE,254472192,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,161008,021926,4806.649,-12222.609,13,1.9,30,18.3