version: 66.04
glider: 16
mission: 13
dive: 49
start: 6 13 109 8 27 50
data:
$ID,16
$MISSION,13
$DIVE,49
$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,-2108461.2
$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,25
$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
$GPS1,082320,6203.647,-906.082,38,3.1,57,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.5
$GPS2,082732,6203.630,-906.074,12,1.3,12,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6203.630,-929.122
$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,-54.83,0.000,6,0.000,0.000,72,2602,3415
$GC,79,-1.03,-146.6,7.8,-14.9,3,101,11.95,2.38,0.00,0.000,4,0.185,0.061,2129,3861,3416
$GC,354,-1.03,-146.6,48.3,-10.0,15,358,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2584,3416
$GC,675,-1.03,-146.6,77.2,-9.2,31,679,0.00,2.38,0.00,0.000,4,0.000,0.064,2129,3866,3417
$GC,730,-1.03,-146.6,83.0,-10.3,33,736,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2593,3417
$GC,1046,-1.03,-146.6,108.8,-8.0,49,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3418
$GC,1356,-1.03,-146.6,133.6,-8.4,64,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3418
$GC,1664,-1.03,-146.6,160.4,-8.9,79,1668,0.00,2.45,0.00,0.000,4,0.000,0.043,2129,1207,3418
$GC,1704,-1.03,-146.6,163.8,-8.9,81,1708,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2599,3417
$GC,2030,-1.03,-146.6,192.4,-8.8,97,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2598,3417
$GC,2340,-1.03,-146.6,218.9,-8.6,112,2344,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3418
$GC,2380,-1.08,-146.6,222.4,-8.5,114,2384,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2603,3418
$GC,2706,-1.08,-146.6,252.1,-9.5,130,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,3015,-1.08,-146.6,281.8,-9.9,145,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,3325,-1.08,-146.6,312.3,-9.9,160,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,3634,-1.08,-146.6,344.7,-10.7,175,3638,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3418
$GC,3689,-1.12,-146.6,350.8,-11.2,177,3695,0.00,2.45,0.00,0.000,6,0.000,0.039,2128,2604,3417
$GC,4005,-1.12,-146.6,384.5,-10.3,193,4009,0.00,2.47,0.00,0.000,4,0.000,0.046,2129,1211,3417
$GC,4067,-1.17,-146.6,390.7,-10.2,196,4072,0.12,2.45,0.00,0.000,6,0.047,0.042,2088,2599,3417
$GC,4396,-1.07,-146.6,433.2,-12.9,212,4401,0.20,2.35,0.00,0.000,4,0.104,0.071,2127,3861,3417
$GC,4481,-1.07,-146.6,443.0,-10.5,216,4485,0.00,2.15,0.00,0.000,6,0.000,0.031,2127,2600,3417
$STATE,4666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4667,begin apogee
$GC,4674,-0.31,0.0,461.0,8.7,225,4801,0.85,0.00,124.12,0.854,6,0.135,0.000,2288,2300,2817
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4805,1.03,146.6,465.6,0.0,231,4939,1.38,2.58,126.28,0.843,4,0.075,0.050,2579,908,2218
$GC,5000,0.96,182.7,462.8,6.3,241,5041,0.00,2.50,31.67,0.809,6,0.000,0.038,2579,2312,2071
$GC,5350,0.96,182.7,437.7,8.8,258,5354,0.00,2.60,0.00,0.000,4,0.000,0.067,2579,3700,2066
$GC,5427,0.86,182.7,430.4,9.1,261,5434,0.17,2.45,0.00,0.000,6,0.092,0.033,2546,2309,2066
$GC,5743,0.91,224.7,408.6,6.1,277,5785,0.00,0.00,37.15,0.798,6,0.000,0.000,2546,2309,1900
$GC,6095,0.96,224.7,384.1,7.7,294,6097,0.10,0.00,0.00,0.000,6,0.054,0.000,2576,2308,1896
$GC,6404,0.96,224.7,356.7,9.1,309,6408,0.00,2.55,0.00,0.000,4,0.000,0.051,2577,898,1894
$GC,6465,0.96,224.7,350.8,9.3,312,6470,0.00,2.47,0.00,0.000,6,0.000,0.037,2577,2301,1892
$GC,6792,0.98,236.7,324.9,7.1,328,6805,0.00,0.00,10.85,0.684,6,0.000,0.000,2578,2301,1852
$GC,7101,1.03,284.9,306.4,5.9,343,7147,0.00,0.00,44.33,0.745,6,0.000,0.000,2577,2301,1655
$GC,7450,1.03,284.9,280.2,8.8,360,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2301,1648
$GC,7759,1.03,284.9,250.2,10.5,375,7763,0.00,2.53,0.00,0.000,4,0.000,0.047,2577,895,1647
$GC,7815,1.03,284.9,244.0,11.3,377,7819,0.00,2.47,0.00,0.000,6,0.000,0.036,2577,2301,1645
$GC,8130,1.03,284.9,210.6,10.7,392,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2301,1645
$GC,8440,1.03,284.9,177.2,10.7,407,8444,0.00,2.53,0.00,0.000,4,0.000,0.047,2577,898,1645
$GC,8490,1.07,284.9,171.7,11.1,409,8494,0.00,2.47,0.00,0.000,6,0.000,0.036,2577,2308,1644
$GC,8805,1.07,284.9,138.1,10.8,424,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2308,1644
$GC,9115,1.07,284.9,105.0,10.9,439,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2308,1644
$GC,9426,1.07,284.9,70.2,11.0,454,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2308,1644
$GC,9733,1.07,284.9,38.7,9.8,469,9738,0.00,2.53,0.00,0.000,4,0.000,0.045,2577,896,1644
$GC,9797,1.13,284.9,32.4,10.1,472,9802,0.12,2.45,0.00,0.000,6,0.058,0.036,2611,2301,1643
$STATE,10059,end climb,SURFACE_DEPTH_REACHED
$STATE,10059,begin surface coast
$FINISH,0.9,1.026798
$STATE,10081,end surface coast,CONTROL_FINISHED_OK
$STATE,10081,begin surface
$SM_CCo,10164,0.00,0.000,0,0,1642,288.23
$SM_GC,1.61,11.98,0.00,0.00,0.082,0.000,0.000,72,2612,1642,-10.46,0.34,288.23
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1717
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.9,69.2
$24V_AH,23.7,13.465
$10V_AH,10.1,5.693
$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,26.875,64.325,374.400,0.000,0.000,18.031,32.155,105.786,3.000,0.000,0.000,12.457,898.139,7676.988,437.122,1095.735,316.349,0.000,999.029,0.000,1071.619,0.000,22.105,0.000
$DEVICE_MAMPS,184.847,71.331,854.438,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.610,347.953,361.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25435,486
$CAP_FILE_SIZE,71935,0
$CFSIZE,260165632,255631360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130609,111830,6203.523,-907.609,35,1.6,40,-9.5