version: 66.03
glider: 5
mission: 2
dive: 16
start: 4 30 108 12 16 11
data:
$ID,5
$MISSION,2
$DIVE,16
$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,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,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,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,695
$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,-75590.992
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,3239
$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,3
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.435621
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043890956
$SEABIRD_T_H,0.00065287336
$SEABIRD_T_I,2.754709e-05
$SEABIRD_T_J,3.0424237e-06
$SEABIRD_C_G,-10.354986
$SEABIRD_C_H,1.1996267
$SEABIRD_C_I,-0.0023424325
$SEABIRD_C_J,0.0002635108
$GPS1,121038,4806.728,-12222.582,15,1.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.6
$GPS2,121520,4806.689,-12222.553,13,1.6,13,18.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.207
$KALMAN_X,2723.9,-18.3,46.5,-3234.8,145.6
$KALMAN_Y,-6844.5,-87.6,-128.5,7406.1,-421.5
$MHEAD_RNG_PITCHd_Wd,129.1,1448,-14.8,-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,-1.22,-146.6,0.0,0.0,0,170,0.00,0.00,-124.20,0.000,2,0.000,0.000,428,2125,3520
$GC,174,-1.22,-146.6,3.3,-4.3,23,199,10.57,2.60,-8.48,0.000,4,0.143,0.081,2430,751,3838
$GC,452,-1.22,-146.6,37.9,-12.3,58,458,0.00,2.55,0.00,0.000,6,0.000,0.057,2430,2150,3839
$GC,647,-1.22,-146.6,60.5,-11.5,73,651,0.00,2.60,0.00,0.000,4,0.000,0.074,2430,3558,3839
$GC,668,-1.22,-146.6,63.2,-11.7,74,673,0.00,2.58,0.00,0.000,6,0.000,0.061,2430,2156,3839
$GC,990,-1.22,-146.6,98.4,-10.8,90,994,0.00,2.65,0.00,0.000,4,0.000,0.074,2430,3560,3839
$GC,1001,-1.22,-146.6,99.7,-10.9,90,1008,0.00,2.60,0.00,0.000,6,0.000,0.064,2430,2150,3839
$STATE,1133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1133,begin apogee
$GC,1140,-0.33,0.0,114.2,10.7,103,1260,0.88,0.00,116.40,0.846,6,0.081,0.000,2621,2145,3239
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1264,1.22,146.6,117.8,0.0,115,1383,1.55,0.00,114.05,0.818,6,0.054,0.000,2967,2142,2641
$GC,1702,1.22,146.6,70.2,12.8,146,1706,0.00,2.65,0.00,0.000,4,0.000,0.070,2967,3559,2641
$GC,1787,1.22,146.6,58.8,14.1,150,1791,0.00,2.60,0.00,0.000,6,0.000,0.064,2967,2149,2640
$GC,2110,1.22,146.6,18.6,12.2,178,2117,0.00,2.62,0.00,0.000,4,0.000,0.071,2967,3561,2640
$GC,2203,1.22,146.6,7.2,12.9,194,2209,0.00,2.60,0.00,0.000,6,0.000,0.065,2967,2149,2640
$STATE,2235,end climb,SURFACE_DEPTH_REACHED
$STATE,2236,begin surface coast
$FINISH,1.8,1.021101
$STATE,2282,end surface coast,CONTROL_FINISHED_OK
$STATE,2282,begin surface
$SM_CCo,2304,323.62,0.746,0,0,405,695.18
$SM_GC,0.62,0.00,0.00,323.62,0.000,0.000,0.746,424,2124,405,-10.47,-0.71,695.18
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029913
$HUMID,1586
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,80.4,43.8
$24V_AH,23.9,2.583
$10V_AH,10.0,0.870
$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,24.400,26.050,230.450,323.625,0.000,37.760,72.093,84.658,1.500,0.000,0.000,13.004,361.464,1164.585,630.763,478.150,291.207,33.330,908.755,0.000,474.079,0.000,8.613
$DEVICE_MAMPS,143.429,81.302,846.001,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,138.929,149.593,358.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9685,208
$CAP_FILE_SIZE,30247,0
$CFSIZE,254472192,252760064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300408,130051,4806.396,-12222.215,14,1.1,14,18.3