version: 66.04
glider: 16
mission: 13
dive: 50
start: 6 13 109 11 23 20
data:
$ID,16
$MISSION,13
$DIVE,50
$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,-2108493.2
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,111830,6203.523,-907.609,35,1.6,40,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.6
$GPS2,112304,6203.531,-907.512,11,2.9,30,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6203.531,-930.559
$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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.70,0.000,6,0.000,0.000,72,2612,3415
$GC,81,-1.03,-146.6,6.0,-10.9,3,103,11.95,2.35,0.00,0.000,4,0.186,0.063,2132,3856,3416
$GC,293,-1.03,-146.6,39.2,-10.5,12,297,0.00,2.17,0.00,0.000,6,0.000,0.029,2132,2581,3416
$GC,615,-1.03,-146.6,68.2,-8.9,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3417
$GC,924,-1.03,-146.6,94.5,-8.1,43,928,0.00,2.42,0.00,0.000,4,0.000,0.042,2132,1208,3417
$GC,957,-1.03,-146.6,97.1,-7.8,44,964,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2602,3417
$GC,1275,-1.03,-146.6,120.6,-7.4,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,1583,-1.03,-146.6,142.1,-7.0,75,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,1892,-1.03,-146.6,164.4,-7.2,90,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2201,-1.03,-146.6,187.2,-7.3,105,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2510,-1.03,-146.6,209.4,-7.1,120,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,2819,-1.03,-146.6,232.0,-7.6,135,2824,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1202,3418
$GC,2864,-1.08,-146.6,235.6,-8.1,137,2868,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2608,3418
$GC,3185,-1.08,-146.6,261.7,-8.2,153,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,3494,-1.08,-146.6,286.7,-8.1,168,3498,0.00,2.47,0.00,0.000,4,0.000,0.042,2132,1208,3418
$GC,3549,-1.14,-146.6,291.2,-8.1,170,3556,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2603,3418
$GC,3866,-1.14,-146.6,316.6,-8.1,186,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4175,-1.14,-146.6,341.2,-7.5,201,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3417
$GC,4484,-1.14,-146.6,365.7,-7.9,216,4488,0.00,2.47,0.00,0.000,4,0.000,0.043,2132,1202,3417
$GC,4528,-1.20,-146.6,369.3,-7.8,218,4533,0.15,2.47,0.00,0.000,6,0.043,0.039,2086,2608,3417
$GC,4851,-1.10,-146.6,402.1,-11.0,234,4856,0.17,2.47,0.00,0.000,4,0.097,0.042,2123,1207,3417
$GC,4884,-1.10,-146.6,405.5,-8.8,235,4891,0.00,2.45,0.00,0.000,6,0.000,0.039,2123,2600,3417
$GC,5200,-1.10,-146.6,433.4,-9.1,251,5204,0.00,2.35,0.00,0.000,4,0.000,0.073,2124,3859,3417
$GC,5246,-1.10,-146.6,437.6,-8.9,253,5250,0.00,2.12,0.00,0.000,6,0.000,0.031,2123,2605,3417
$STATE,5534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5534,begin apogee
$GC,5541,-0.31,0.0,459.9,7.7,267,5669,0.82,0.00,124.47,0.851,6,0.100,0.000,2290,2302,2817
$STATE,5670,end apogee,CONTROL_FINISHED_OK
$STATE,5670,begin climb
$GC,5673,1.03,146.6,464.0,0.0,273,5808,1.35,2.60,126.53,0.840,4,0.072,0.050,2579,899,2218
$GC,5889,0.94,156.3,459.2,7.2,283,5905,0.00,2.47,8.95,0.705,6,0.000,0.037,2579,2302,2178
$GC,6215,0.90,169.2,436.3,7.1,299,6237,0.12,2.70,12.32,0.740,4,0.096,0.065,2556,3700,2127
$GC,6283,0.83,169.2,431.2,7.8,302,6288,0.00,2.45,0.00,0.000,6,0.000,0.034,2556,2304,2126
$GC,6611,0.81,190.2,407.2,6.8,318,6635,0.00,2.65,19.40,0.770,4,0.000,0.064,2556,3701,2041
$GC,6779,0.75,195.7,394.0,7.3,325,6792,0.17,2.47,6.03,0.621,6,0.097,0.033,2523,2299,2018
$GC,7103,0.91,258.2,376.6,5.4,341,7166,0.15,2.60,56.17,0.792,4,0.047,0.051,2566,898,1763
$GC,7218,0.91,258.2,367.1,9.2,346,7222,0.00,2.50,0.00,0.000,6,0.000,0.038,2566,2301,1757
$GC,7539,0.91,263.5,342.2,7.3,362,7549,0.00,2.65,4.82,0.550,4,0.000,0.064,2566,3709,1742
$GC,7582,0.91,263.5,338.5,8.3,364,7587,0.00,2.50,0.00,0.000,6,0.000,0.033,2566,2294,1741
$GC,7904,0.91,263.5,312.9,8.4,380,7908,0.00,2.53,0.00,0.000,4,0.000,0.049,2566,893,1739
$GC,7943,0.91,263.5,309.5,8.9,382,7948,0.00,2.47,0.00,0.000,6,0.000,0.037,2566,2302,1737
$GC,8270,0.91,263.5,281.3,8.5,398,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2302,1738
$GC,8579,0.91,263.5,256.2,7.9,413,8583,0.00,2.53,0.00,0.000,4,0.000,0.047,2566,895,1738
$GC,8648,0.91,263.5,250.6,8.5,416,8652,0.00,2.47,0.00,0.000,6,0.000,0.037,2566,2302,1737
$GC,8974,0.96,263.5,222.2,8.9,432,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2302,1737
$GC,9284,1.00,263.5,193.6,9.7,447,9288,0.00,2.53,0.00,0.000,4,0.000,0.047,2566,893,1737
$GC,9328,1.06,263.5,189.1,10.1,449,9333,0.10,2.47,0.00,0.000,6,0.055,0.036,2594,2305,1736
$GC,9649,1.06,263.5,154.2,10.7,465,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1736
$GC,9958,1.06,263.5,123.1,9.7,480,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1736
$GC,10268,1.06,263.5,93.5,10.0,495,10272,0.00,2.53,0.00,0.000,4,0.000,0.046,2594,892,1736
$GC,10317,1.06,263.5,87.9,11.8,497,10321,0.00,2.45,0.00,0.000,6,0.000,0.036,2594,2301,1736
$GC,10639,1.06,263.5,53.4,10.5,513,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2301,1736
$GC,10948,1.06,263.5,18.3,11.4,528,10952,0.00,2.53,0.00,0.000,4,0.000,0.045,2594,889,1736
$GC,10993,1.06,263.5,12.9,11.1,530,10997,0.00,2.47,0.00,0.000,6,0.000,0.036,2594,2305,1736
$STATE,11105,end climb,SURFACE_DEPTH_REACHED
$STATE,11105,begin surface coast
$FINISH,0.6,1.026850
$STATE,11127,end surface coast,CONTROL_FINISHED_OK
$STATE,11127,begin surface
$SM_CCo,11210,0.00,0.000,0,0,1734,265.41
$SM_GC,1.61,12.02,0.00,0.00,0.089,0.000,0.000,72,2597,1734,-10.46,-0.08,265.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1703
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.2,92.6
$24V_AH,23.7,13.558
$10V_AH,10.1,5.748
$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,27.025,85.200,358.700,0.000,0.000,18.064,27.186,112.906,2.750,0.000,0.000,31.184,997.540,8491.375,428.642,1233.471,338.105,0.000,1058.154,0.000,1188.520,0.000,20.545,0.000
$DEVICE_MAMPS,185.614,72.865,851.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.398,373.835,392.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25369,537
$CAP_FILE_SIZE,82502,0
$CFSIZE,260165632,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130609,143131,6203.538,-907.549,39,1.9,45,-9.5