version: 66.04
glider: 16
mission: 13
dive: 46
start: 6 12 109 23 59 32
data:
$ID,16
$MISSION,13
$DIVE,46
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$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,250
$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,-2108402
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,235457,6206.629,-904.167,29,2.3,48,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.2
$GPS2,235914,6206.656,-904.097,15,1.0,15,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6206.656,-927.184
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,279.5,20000,-13.9,-7.500
$D_GRID,990
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-58.20,0.000,6,0.000,0.000,75,2609,3416
$GC,80,-1.03,-146.6,6.6,-12.1,3,101,11.90,2.35,0.00,0.000,4,0.183,0.062,2131,3858,3418
$GC,354,-1.03,-146.6,46.5,-10.0,15,358,0.00,2.17,0.00,0.000,6,0.000,0.029,2131,2582,3417
$GC,675,-1.03,-146.6,77.8,-9.5,31,679,0.00,2.38,0.00,0.000,4,0.000,0.065,2131,3861,3418
$GC,741,-1.03,-146.6,84.5,-10.2,34,745,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2599,3418
$GC,1068,-1.03,-146.6,113.6,-9.0,50,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,1378,-1.03,-146.6,140.8,-8.6,65,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3419
$GC,1686,-1.03,-146.6,166.3,-8.3,80,1691,0.00,2.45,0.00,0.000,4,0.000,0.042,2131,1208,3418
$GC,1737,-1.08,-146.6,170.7,-8.7,82,1741,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2599,3419
$GC,2052,-1.08,-146.6,197.0,-8.4,97,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,2362,-1.08,-146.6,223.2,-8.4,112,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3419
$GC,2672,-1.08,-146.6,251.4,-8.9,127,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,2980,-1.08,-146.6,278.1,-8.8,142,2984,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1207,3419
$GC,3025,-1.13,-146.6,282.2,-9.1,144,3029,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,3346,-1.13,-146.6,310.2,-8.5,160,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3655,-1.13,-146.6,335.1,-7.6,175,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3964,-1.13,-146.6,359.8,-8.4,190,3968,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,4042,-1.18,-146.6,366.8,-8.9,193,4049,0.12,2.45,0.00,0.000,6,0.046,0.038,2091,2599,3418
$GC,4358,-1.10,-146.6,398.7,-8.8,209,4360,0.15,0.00,0.00,0.000,6,0.101,0.000,2119,2600,3418
$GC,4667,-1.10,-146.6,419.3,-7.9,224,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2599,3417
$STATE,4809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4809,begin apogee
$GC,4816,-0.31,0.0,432.5,9.4,231,4943,0.85,0.00,123.65,0.838,6,0.108,0.000,2287,2298,2818
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4947,1.03,146.6,438.4,0.0,237,5080,1.38,2.58,125.38,0.831,4,0.072,0.048,2581,908,2219
$GC,5195,0.97,179.2,430.3,6.4,248,5230,0.00,2.47,28.50,0.792,6,0.000,0.038,2581,2301,2086
$GC,5553,0.97,179.2,401.8,8.5,266,5557,0.00,2.65,0.00,0.000,4,0.000,0.068,2581,3705,2080
$GC,5729,0.89,187.0,386.3,7.2,274,5744,0.15,2.45,7.47,0.658,6,0.096,0.034,2552,2306,2053
$GC,6060,0.93,226.2,365.2,6.2,290,6100,0.00,0.00,35.28,0.776,6,0.000,0.000,2553,2305,1895
$GC,6410,0.98,226.2,338.1,8.1,307,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2305,1889
$GC,6719,1.02,226.2,313.7,7.8,322,6721,0.15,0.00,0.00,0.000,6,0.048,0.000,2597,2305,1888
$GC,7028,0.96,226.2,280.3,10.8,337,7030,0.15,0.00,0.00,0.000,6,0.091,0.000,2569,2305,1888
$GC,7337,0.96,226.2,250.7,9.5,352,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2305,1888
$GC,7646,0.96,226.2,220.2,10.0,367,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2305,1887
$GC,7956,0.96,226.2,194.4,8.1,382,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2305,1887
$GC,8265,0.98,246.9,172.4,6.8,397,8285,0.00,0.00,18.20,0.640,6,0.000,0.000,2568,2303,1810
$GC,8595,0.99,257.6,149.8,7.1,413,8607,0.00,0.00,10.32,0.587,6,0.000,0.000,2569,2305,1766
$GC,8905,0.99,257.6,123.8,9.3,428,8910,0.00,2.55,0.00,0.000,4,0.000,0.050,2568,891,1764
$GC,8946,1.03,257.6,119.8,10.2,430,8950,0.00,2.47,0.00,0.000,6,0.000,0.035,2568,2304,1762
$GC,9273,1.03,257.6,91.1,8.3,446,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2303,1762
$GC,9582,1.03,257.6,65.8,7.7,461,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2304,1762
$GC,9892,1.08,265.2,43.2,7.2,476,9906,0.12,2.58,7.70,0.505,4,0.048,0.044,2609,896,1734
$GC,9946,1.02,265.2,38.1,9.7,478,9951,0.15,2.47,0.00,0.000,6,0.089,0.035,2579,2305,1733
$GC,10262,1.02,265.2,10.4,8.6,493,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2305,1733
$STATE,10363,end climb,SURFACE_DEPTH_REACHED
$STATE,10363,begin surface coast
$FINISH,0.6,1.014271
$STATE,10385,end surface coast,CONTROL_FINISHED_OK
$STATE,10385,begin surface
$SM_CCo,10468,0.00,0.000,0,0,1728,266.89
$SM_GC,1.70,12.00,0.00,0.00,0.090,0.000,0.000,68,2601,1728,-10.47,0.03,266.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1708
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.0,42.0
$24V_AH,23.7,13.187
$10V_AH,10.1,5.546
$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,27.125,44.975,356.500,0.000,0.000,18.213,28.168,110.033,3.500,0.000,0.000,15.872,911.424,7994.330,417.311,1094.516,314.598,0.000,956.495,0.000,1068.654,0.000,27.859,0.000
$DEVICE_MAMPS,183.313,68.263,838.331,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,354.241,356.921,387.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25327,499
$CAP_FILE_SIZE,70381,0
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130609,025506,6206.582,-903.101,30,0.9,30,-9.5