version: 66.04
glider: 16
mission: 13
dive: 48
start: 6 13 109 5 47 44
data:
$ID,16
$MISSION,13
$DIVE,48
$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,-2108448
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,054258,6204.964,-904.195,10,4.1,29,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.0
$GPS2,054728,6204.921,-904.197,13,3.6,32,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6204.921,-927.262
$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,12,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,-58.40,0.000,6,0.000,0.000,68,2611,3418
$GC,81,-1.03,-146.6,6.3,-11.4,3,102,12.10,2.35,0.00,0.000,4,0.191,0.064,2128,3853,3418
$GC,355,-1.03,-146.6,59.9,-15.2,15,359,0.00,2.17,0.00,0.000,6,0.000,0.028,2128,2577,3419
$GC,676,-1.03,-146.6,102.2,-12.7,31,680,0.00,2.38,0.00,0.000,4,0.000,0.064,2128,3858,3419
$GC,742,-1.03,-146.6,111.0,-13.8,34,746,0.00,2.15,0.00,0.000,6,0.000,0.029,2128,2595,3419
$GC,1070,-1.03,-146.6,152.2,-12.9,50,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2593,3419
$GC,1378,-1.03,-146.6,190.0,-11.9,65,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2593,3419
$GC,1688,-1.03,-146.6,225.3,-10.9,80,1692,0.00,2.45,0.00,0.000,4,0.000,0.043,2128,1206,3419
$GC,1744,-1.03,-146.6,231.7,-11.0,82,1750,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2598,3419
$GC,2059,-1.03,-146.6,265.2,-10.4,98,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2598,3419
$GC,2369,-1.03,-146.6,297.0,-10.2,113,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3419
$GC,2678,-1.03,-146.6,328.2,-10.5,128,2682,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1202,3419
$GC,2739,-1.07,-146.6,334.4,-9.6,130,2746,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2601,3419
$GC,3055,-1.07,-146.6,365.8,-9.8,146,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3419
$GC,3364,-1.07,-146.6,395.6,-10.2,161,3368,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1202,3418
$GC,3439,-1.14,-146.6,403.3,-10.4,164,3443,0.00,2.47,0.00,0.000,6,0.000,0.039,2128,2608,3420
$GC,3754,-1.14,-146.6,433.0,-9.4,179,3758,0.00,2.33,0.00,0.000,4,0.000,0.072,2128,3860,3419
$STATE,3820,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3820,begin apogee
$GC,3829,-0.31,0.0,439.6,10.0,182,3957,0.77,0.00,124.03,0.838,6,0.094,0.000,2287,2315,2818
$STATE,3957,end apogee,CONTROL_FINISHED_OK
$STATE,3957,begin climb
$GC,3960,1.03,146.6,444.7,0.0,188,4094,1.38,2.62,125.95,0.828,4,0.071,0.048,2580,895,2218
$GC,4171,0.92,154.9,439.3,7.2,198,4185,0.00,2.50,7.90,0.674,6,0.000,0.036,2580,2302,2185
$GC,4502,0.86,188.1,420.0,6.4,214,4538,0.17,2.70,29.70,0.788,4,0.097,0.065,2544,3708,2050
$GC,4706,0.86,188.1,403.5,8.5,222,4711,0.00,2.47,0.00,0.000,6,0.000,0.033,2544,2302,2047
$GC,5022,0.87,197.6,380.6,7.2,237,5037,0.00,2.60,8.90,0.681,4,0.000,0.051,2544,903,2010
$GC,5082,0.87,197.6,376.0,7.8,239,5088,0.00,2.47,0.00,0.000,6,0.000,0.037,2544,2300,2009
$GC,5398,0.87,197.6,351.7,8.2,255,5402,0.00,2.62,0.00,0.000,4,0.000,0.064,2543,3709,2008
$GC,5442,0.87,197.6,347.8,9.4,257,5446,0.00,2.47,0.00,0.000,6,0.000,0.032,2543,2295,2008
$GC,5763,0.92,197.6,321.6,7.9,273,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2295,2008
$GC,6072,0.97,202.2,298.0,7.3,288,6080,0.12,0.00,5.03,0.546,6,0.048,0.000,2578,2293,1993
$GC,6381,0.92,202.2,270.8,8.8,303,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,1993
$GC,6691,0.88,202.2,241.8,9.6,318,6692,0.12,0.00,0.00,0.000,6,0.092,0.000,2554,2293,1993
$GC,7000,0.88,202.2,213.9,8.7,333,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1992
$GC,7309,0.88,202.2,186.6,9.2,348,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1992
$GC,7618,0.88,202.2,156.2,9.8,363,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1992
$GC,7928,0.88,202.2,124.5,10.1,378,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1992
$GC,8237,0.88,202.2,91.0,11.0,393,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1992
$GC,8546,0.88,202.2,53.7,12.1,408,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1992
$GC,8857,0.88,202.2,22.3,9.0,423,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1992
$STATE,9143,end climb,SURFACE_DEPTH_REACHED
$STATE,9143,begin surface coast
$FINISH,0.6,1.026294
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9207,31.60,0.554,0,0,1796,250.21
$SM_GC,1.16,0.00,0.00,31.60,0.000,0.000,0.554,72,2601,1796,-10.52,0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1707
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.3,23.8
$24V_AH,23.7,13.369
$10V_AH,10.1,5.642
$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,26.525,49.850,301.500,31.600,0.000,17.991,26.423,108.957,3.500,0.000,0.000,33.543,820.984,6981.798,396.494,1017.906,300.210,0.000,898.974,0.000,973.048,0.000,26.538,0.000
$DEVICE_MAMPS,190.983,72.098,837.564,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.818,310.809,320.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22266,439
$CAP_FILE_SIZE,64423,0
$CFSIZE,260165632,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130609,082320,6203.647,-906.082,38,3.1,57,-9.5