version: 66.04
glider: 5
mission: 4
dive: 20
start: 10 16 108 9 45 56
data:
$ID,5
$MISSION,4
$DIVE,20
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,400
$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,-85902.922
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,44
$R_STBD_OVSHOOT,20
$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
$GPS1,094056,4807.684,-12223.710,8,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-68.3
$GPS2,094503,4807.721,-12223.776,13,1.8,13,18.3
$SPEED_LIMITS,0.108,0.225
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,0.084
$KALMAN_X,-378.0,188.3,146.0,-629.0,7.1
$KALMAN_Y,2968.0,-726.0,-174.9,-2421.9,169.4
$MHEAD_RNG_PITCHd_Wd,302.5,587,-27.4,-6.250
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.87,-30.7,0.0,0.0,0,99,0.00,0.00,-80.07,0.000,6,0.000,0.000,428,2190,3366
$GC,102,-1.90,-45.2,3.4,-4.3,14,122,9.45,2.53,-1.58,0.000,4,0.142,0.065,2231,804,3426
$GC,377,-1.54,-45.2,36.3,-8.6,46,382,0.40,2.47,0.00,0.000,6,0.110,0.049,2309,2191,3426
$GC,575,-1.46,-45.2,49.7,-6.6,64,580,0.10,2.53,0.00,0.000,4,0.120,0.054,2328,793,3427
$GC,832,-1.46,-45.2,67.5,-6.3,75,839,0.00,2.53,0.00,0.000,6,0.000,0.051,2328,2217,3427
$GC,1149,-1.46,-45.2,87.4,-6.6,91,1153,0.00,2.50,0.00,0.000,4,0.000,0.065,2328,3601,3426
$GC,1195,-1.39,-45.2,90.6,-6.6,93,1199,0.00,2.38,0.00,0.000,6,0.000,0.048,2328,2254,3426
$STATE,1525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1525,begin apogee
$GC,1532,-0.33,0.0,110.6,6.2,117,1573,1.15,0.00,37.12,0.821,6,0.094,0.000,2569,2236,3240
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1576,1.90,45.2,112.2,0.0,121,1619,2.20,0.00,36.40,0.813,6,0.058,0.000,3066,2236,3056
$GC,1943,1.64,45.2,64.5,14.1,144,1948,0.28,2.45,0.00,0.000,4,0.107,0.060,3011,3596,3055
$GC,2066,1.46,45.2,48.3,13.1,149,2074,0.20,2.47,0.00,0.000,6,0.104,0.046,2972,2199,3055
$GC,2392,1.46,45.2,18.7,7.5,181,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2180,3055
$GC,2467,1.46,45.2,13.4,6.8,194,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2180,3055
$GC,2542,1.47,46.5,9.1,6.1,207,2548,0.00,2.55,0.00,0.000,4,0.000,0.061,2972,3603,3055
$GC,2803,1.54,91.6,8.9,0.1,253,2845,0.00,2.50,36.67,0.756,6,0.000,0.044,2972,2146,2865
$GC,2915,1.72,112.7,6.4,3.4,272,2940,0.20,2.47,16.45,0.720,4,0.048,0.058,3026,813,2780
$GC,3195,1.80,158.2,5.1,0.1,321,3237,0.00,2.62,33.70,0.746,6,0.000,0.048,3026,2298,2594
$STATE,3258,end climb,SURFACE_DEPTH_REACHED
$STATE,3258,begin surface coast
$FINISH,1.6,1.020538
$STATE,3462,end surface coast,CONTROL_FINISHED_OK
$STATE,3462,begin surface
$SM_CCo,3485,127.22,0.742,0,0,1609,400.08
$SM_GC,0.57,0.00,0.00,127.22,0.000,0.000,0.742,421,2191,1609,-10.25,0.03,400.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1734
$TCM_TEMP,18.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,110.6,6.9
$24V_AH,24.0,2.252
$10V_AH,10.0,0.800
$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,25.575,30.150,160.350,127.225,0.000,37.759,31.050,86.790,3.500,0.000,0.000,13.251,621.633,1778.696,357.272,837.397,280.459,33.314,747.848,0.000,826.746,0.000,25.284,0.000
$DEVICE_MAMPS,141.895,65.195,820.690,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.093,278.130,634.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19079,368
$CAP_FILE_SIZE,43993,0
$CFSIZE,254472192,252715008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,161008,104716,4807.882,-12224.081,8,2.8,28,18.3