version: 66.04
glider: 16
mission: 13
dive: 51
start: 6 13 109 14 36 32
data:
$ID,16
$MISSION,13
$DIVE,51
$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,-2108525.5
$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,23
$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
$GPS1,143131,6203.538,-907.549,39,1.9,45,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.7
$GPS2,143616,6203.528,-907.474,11,2.3,30,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6203.528,-930.521
$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,-57.25,0.000,6,0.000,0.000,72,2598,3415
$GC,80,-1.03,-146.6,6.8,-12.6,3,102,12.00,2.40,0.00,0.000,4,0.187,0.065,2131,3864,3416
$GC,343,-1.03,-146.6,44.5,-9.5,14,350,0.00,2.22,0.00,0.000,6,0.000,0.029,2131,2579,3417
$GC,659,-1.03,-146.6,70.2,-8.2,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2579,3417
$GC,969,-1.03,-146.6,98.4,-9.7,45,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3417
$GC,1278,-1.03,-146.6,128.6,-10.0,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2579,3417
$GC,1587,-1.03,-146.6,160.1,-10.0,75,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3418
$GC,1896,-1.03,-146.6,193.3,-10.8,90,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3418
$GC,2205,-1.03,-146.6,227.7,-11.3,105,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3418
$GC,2514,-1.03,-146.6,262.3,-11.4,120,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3418
$GC,2824,-1.03,-146.6,293.0,-9.0,135,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3417
$GC,3133,-1.03,-146.6,317.5,-7.7,150,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3417
$GC,3442,-1.03,-146.6,343.9,-9.0,165,3446,0.00,2.42,0.00,0.000,4,0.000,0.044,2131,1207,3417
$GC,3498,-1.08,-146.6,349.0,-8.5,167,3504,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3417
$GC,3815,-1.08,-146.6,376.6,-8.9,183,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4123,-1.08,-146.6,405.7,-9.2,198,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4432,-1.08,-146.6,433.6,-8.9,213,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3416
$GC,4742,-1.08,-146.6,460.5,-9.1,228,4746,0.00,2.35,0.00,0.000,4,0.000,0.074,2131,3858,3416
$STATE,4757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4757,begin apogee
$GC,4766,-0.31,0.0,462.4,9.5,229,4893,0.77,0.00,123.78,0.858,6,0.095,0.000,2290,2314,2818
$STATE,4894,end apogee,CONTROL_FINISHED_OK
$STATE,4894,begin climb
$GC,4897,1.03,146.6,468.4,0.0,235,5031,1.35,2.62,126.15,0.843,4,0.067,0.048,2580,897,2218
$GC,5146,0.94,146.6,460.3,7.7,246,5152,0.00,2.50,0.00,0.000,6,0.000,0.036,2580,2304,2212
$GC,5462,0.87,146.6,436.8,8.4,262,5467,0.17,2.62,0.00,0.000,4,0.091,0.065,2542,3701,2211
$GC,5621,0.81,146.6,423.9,7.5,269,5625,0.00,2.45,0.00,0.000,6,0.000,0.031,2542,2301,2211
$GC,5942,0.81,146.6,398.1,8.9,285,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,2210
$GC,6251,0.81,146.6,368.0,9.4,300,6255,0.00,2.53,0.00,0.000,4,0.000,0.050,2542,901,2209
$GC,6323,0.81,146.6,361.3,9.0,303,6327,0.00,2.45,0.00,0.000,6,0.000,0.037,2542,2299,2209
$GC,6639,0.85,189.4,338.7,6.0,318,6680,0.00,0.00,36.72,0.760,6,0.000,0.000,2542,2300,2043
$GC,6990,0.94,233.0,316.0,6.0,335,7032,0.10,0.00,38.90,0.746,6,0.056,0.000,2575,2299,1866
$GC,7339,0.96,248.0,291.5,7.0,352,7358,0.00,0.00,14.07,0.684,6,0.000,0.000,2575,2299,1804
$GC,7668,0.97,260.9,267.5,7.1,368,7682,0.00,0.00,12.07,0.658,6,0.000,0.000,2575,2300,1753
$GC,7977,0.97,260.9,245.0,7.7,383,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1750
$GC,8287,0.97,260.9,219.1,8.6,398,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1749
$GC,8596,0.97,260.9,192.5,8.1,413,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1749
$GC,8905,0.98,270.3,169.2,7.2,428,8917,0.00,0.00,9.35,0.585,6,0.000,0.000,2575,2300,1714
$GC,9215,1.03,311.5,149.4,6.1,443,9255,0.00,0.00,37.33,0.640,6,0.000,0.000,2575,2299,1547
$GC,9566,1.09,311.5,118.6,9.5,460,9571,0.10,2.53,0.00,0.000,4,0.057,0.046,2609,897,1540
$GC,9633,1.09,311.5,110.7,11.5,463,9637,0.00,2.47,0.00,0.000,6,0.000,0.036,2609,2304,1538
$GC,9954,1.09,311.5,76.0,10.5,479,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2304,1538
$GC,10265,1.09,311.5,43.5,10.5,494,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2303,1538
$GC,10573,1.09,311.5,9.3,11.1,509,10577,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,894,1538
$STATE,10625,end climb,SURFACE_DEPTH_REACHED
$STATE,10625,begin surface coast
$FINISH,0.6,1.026730
$STATE,10649,end surface coast,CONTROL_FINISHED_OK
$STATE,10649,begin surface
$SM_CCo,10735,0.00,0.000,0,0,1534,314.72
$SM_GC,1.41,12.18,0.00,0.00,0.091,0.000,0.000,71,2595,1534,-10.46,-0.14,314.72
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1696
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.3,46.0
$24V_AH,23.7,13.657
$10V_AH,10.1,5.800
$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,26.675,40.300,398.375,0.000,0.000,18.274,31.513,116.825,3.500,0.000,0.000,31.582,914.853,8224.275,467.393,1094.921,322.068,0.000,995.910,0.000,1053.583,0.000,26.571,0.000
$DEVICE_MAMPS,187.148,73.632,857.506,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.152,355.321,368.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25408,512
$CAP_FILE_SIZE,67991,0
$CFSIZE,260165632,255553536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130609,173656,6202.499,-908.861,33,3.4,52,-9.5