version: 66.04
glider: 16
mission: 13
dive: 47
start: 6 13 109 3 2 51
data:
$ID,16
$MISSION,13
$DIVE,47
$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,-2108413.8
$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,30
$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
$GPS1,025506,6206.582,-903.101,30,0.9,30,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.5
$GPS2,030233,6206.548,-903.037,9,1.8,10,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6206.548,-926.123
$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,-146.6,0.0,0.0,0,76,0.00,0.00,-57.33,0.000,6,0.000,0.000,68,2601,3415
$GC,79,-1.03,-146.6,6.7,-12.6,3,101,12.00,2.38,0.00,0.000,4,0.186,0.063,2130,3860,3416
$GC,354,-1.03,-146.6,54.9,-14.5,15,358,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2583,3416
$GC,675,-1.03,-146.6,96.8,-12.1,31,679,0.00,2.38,0.00,0.000,4,0.000,0.064,2130,3864,3417
$GC,724,-1.03,-146.6,102.9,-12.5,33,728,0.00,2.15,0.00,0.000,6,0.000,0.028,2130,2595,3416
$GC,1046,-1.03,-146.6,133.8,-8.9,49,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3417
$GC,1355,-1.03,-146.6,161.2,-9.0,64,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3417
$GC,1664,-1.03,-146.6,189.4,-8.9,79,1668,0.00,2.45,0.00,0.000,4,0.000,0.043,2130,1211,3417
$GC,1704,-1.08,-146.6,192.8,-8.0,81,1708,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2601,3417
$GC,2030,-1.08,-146.6,220.3,-8.2,97,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,2339,-1.08,-146.6,244.8,-8.0,112,2343,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1204,3417
$GC,2384,-1.13,-146.6,248.6,-8.2,114,2388,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2609,3417
$GC,2706,-1.13,-146.6,275.1,-8.0,130,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3417
$GC,3014,-1.13,-146.6,299.7,-7.9,145,3021,0.00,2.47,0.00,0.000,4,0.000,0.042,2130,1209,3416
$GC,3072,-1.17,-146.6,304.8,-8.9,147,3077,0.12,2.45,0.00,0.000,6,0.046,0.038,2091,2600,3416
$GC,3388,-1.09,-146.6,337.0,-10.8,162,3390,0.15,0.00,0.00,0.000,6,0.098,0.000,2120,2600,3416
$GC,3697,-1.09,-146.6,365.0,-9.0,177,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3416
$GC,4006,-1.09,-146.6,394.8,-9.9,192,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3416
$GC,4315,-1.09,-146.6,423.0,-8.3,207,4319,0.00,2.35,0.00,0.000,4,0.000,0.074,2120,3857,3416
$STATE,4385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4386,begin apogee
$GC,4395,-0.31,0.0,430.7,11.6,210,4526,0.82,0.00,123.43,0.835,6,0.110,0.000,2287,2317,2816
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4529,1.03,146.6,437.1,0.0,217,4663,1.38,2.65,125.50,0.824,4,0.074,0.050,2582,895,2219
$GC,4750,0.94,158.7,431.0,7.1,227,4766,0.00,2.50,11.12,0.717,6,0.000,0.038,2582,2301,2170
$GC,5088,0.91,203.4,409.5,6.0,244,5134,0.12,2.72,39.30,0.791,4,0.096,0.066,2558,3700,1987
$GC,5309,0.93,218.5,392.6,7.0,254,5331,0.00,2.47,14.40,0.734,6,0.000,0.033,2558,2297,1925
$GC,5640,0.96,250.3,372.4,6.4,270,5671,0.00,0.00,29.30,0.770,6,0.000,0.000,2558,2298,1795
$GC,5970,0.97,256.4,350.0,7.3,286,5981,0.00,2.65,5.97,0.601,4,0.000,0.063,2558,3704,1770
$GC,6014,0.97,256.4,346.2,8.6,288,6019,0.00,2.47,0.00,0.000,6,0.000,0.032,2558,2298,1770
$GC,6336,1.04,270.2,322.6,7.0,304,6358,0.12,2.60,13.55,0.701,4,0.051,0.050,2595,898,1714
$GC,6392,1.04,270.2,317.6,9.7,306,6396,0.00,2.50,0.00,0.000,6,0.000,0.037,2595,2308,1712
$GC,6708,1.04,270.2,285.7,10.7,321,6712,0.00,2.53,0.00,0.000,4,0.000,0.048,2595,895,1712
$GC,6758,1.04,270.2,280.2,11.2,323,6763,0.00,2.47,0.00,0.000,6,0.000,0.036,2595,2302,1710
$GC,7074,1.04,270.2,247.9,9.9,338,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2302,1710
$GC,7383,1.04,270.2,217.1,10.7,353,7387,0.00,2.53,0.00,0.000,4,0.000,0.047,2595,894,1710
$GC,7432,1.04,270.2,211.6,10.9,355,7437,0.00,2.47,0.00,0.000,6,0.000,0.036,2595,2304,1709
$GC,7748,1.04,270.2,180.6,9.4,370,7752,0.00,2.53,0.00,0.000,4,0.000,0.046,2595,894,1709
$GC,7793,1.04,270.2,176.3,9.4,372,7797,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2309,1708
$GC,8120,1.04,270.2,147.5,8.5,388,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2309,1709
$GC,8429,1.04,270.2,118.5,10.0,403,8433,0.00,2.53,0.00,0.000,4,0.000,0.046,2595,895,1709
$GC,8492,1.04,270.2,111.4,11.4,406,8496,0.00,2.47,0.00,0.000,6,0.000,0.035,2595,2309,1708
$GC,8818,1.04,270.2,73.0,11.6,422,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2309,1708
$GC,9128,1.04,270.2,36.8,11.1,437,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2309,1708
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.7,1.002399
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9458,begin surface
$SM_CCo,9541,0.00,0.000,0,0,1705,272.77
$SM_GC,1.66,12.10,0.00,0.00,0.092,0.000,0.000,68,2610,1705,-10.46,0.28,272.77
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1726
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.4,64.0
$24V_AH,23.7,13.286
$10V_AH,10.1,5.596
$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,26.825,70.000,362.575,0.000,0.000,36.072,56.015,194.974,3.000,0.000,0.000,10.879,856.654,7195.033,424.605,1070.023,448.702,0.000,979.302,0.000,1045.306,0.000,23.716,0.000
$DEVICE_MAMPS,186.381,73.632,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.357,320.860,327.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22230,453
$CAP_FILE_SIZE,72869,0
$CFSIZE,260165632,255709184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130609,054258,6204.964,-904.195,10,4.1,29,-9.5