version: 66.04
glider: 5
mission: 4
dive: 14
start: 10 16 108 4 19 59
data:
$ID,5
$MISSION,4
$DIVE,14
$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,-85784.336
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,041453,4806.072,-12222.064,14,2.6,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-66.3
$GPS2,041838,4806.088,-12222.104,11,1.7,11,18.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.151
$KALMAN_X,-349.8,-83.8,53.7,1774.0,-35.2
$KALMAN_Y,2449.8,495.4,-135.7,-6188.9,129.7
$MHEAD_RNG_PITCHd_Wd,132.5,208,-27.9,-10.000
$D_GRID,108
$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,-1.96,-62.0,0.0,0.0,0,122,0.00,0.00,-103.57,0.000,2,0.000,0.000,421,2163,3473
$GC,125,-1.99,-79.6,3.3,-8.1,18,145,9.32,2.53,-2.53,0.000,4,0.139,0.070,2210,775,3565
$GC,197,-1.99,-79.6,15.2,-12.5,30,204,0.00,2.55,0.00,0.000,6,0.000,0.050,2210,2199,3565
$GC,271,-1.99,-79.6,24.5,-12.9,40,275,0.00,2.55,0.00,0.000,4,0.000,0.065,2210,3602,3565
$GC,292,-1.99,-79.6,27.5,-13.4,41,299,0.00,2.38,0.00,0.000,6,0.000,0.048,2211,2262,3565
$GC,490,-1.99,-79.6,53.7,-14.1,59,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2243,3565
$GC,799,-1.99,-79.6,96.6,-14.2,74,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2243,3565
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,880,begin apogee
$GC,887,-0.33,0.0,108.2,13.8,80,954,1.75,0.00,62.95,0.813,6,0.104,0.000,2570,2158,3240
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,958,1.99,79.6,111.2,0.0,87,1026,2.30,0.00,62.30,0.802,6,0.058,0.000,3087,2157,2915
$GC,1336,1.99,79.6,45.6,18.2,111,1340,0.00,2.62,0.00,0.000,4,0.000,0.061,3087,3602,2915
$GC,1391,1.99,79.6,35.0,18.6,115,1397,0.00,2.45,0.00,0.000,6,0.000,0.047,3087,2221,2915
$STATE,1569,end climb,SURFACE_DEPTH_REACHED
$STATE,1569,begin surface coast
$FINISH,0.4,1.020277
$STATE,1605,end surface coast,CONTROL_FINISHED_OK
$STATE,1605,begin surface
$SM_CCo,1628,225.18,0.726,1,0,1201,500.17
$SM_GC,0.50,0.00,0.00,225.18,0.000,0.000,0.726,421,2194,1201,-10.25,0.14,500.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1732
$TCM_TEMP,18.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.5,18.3
$ALTIM_BOTTOM_PING,81.9,42.4
$24V_AH,24.0,1.718
$10V_AH,10.1,0.566
$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,25.475,15.200,125.250,225.175,0.000,37.759,29.829,76.240,1.750,0.000,0.000,11.934,274.911,868.894,441.760,310.662,234.229,33.342,629.291,0.000,311.595,0.000,10.197,0.000
$DEVICE_MAMPS,138.827,69.797,813.020,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,98.143,107.158,251.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6509,146
$CAP_FILE_SIZE,23853,0
$CFSIZE,254472192,252903424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,161008,045204,4805.972,-12221.981,8,2.1,27,18.3