version: 66.04
glider: 16
mission: 13
dive: 54
start: 6 13 109 23 55 56
data:
$ID,16
$MISSION,13
$DIVE,54
$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,-2108576.2
$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,29
$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
$GPS1,234300,6202.688,-911.806,39,1.9,39,-9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.2
$GPS2,235538,6202.816,-911.824,16,1.4,16,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6202.816,-934.862
$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,-146.6,0.0,0.0,0,76,0.00,0.00,-57.42,0.000,6,0.000,0.000,62,2601,3416
$GC,80,-1.03,-146.6,6.8,-12.6,3,101,12.18,2.38,0.00,0.000,4,0.190,0.062,2131,3858,3417
$GC,354,-1.03,-146.6,45.5,-9.5,15,358,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2583,3417
$GC,675,-1.03,-146.6,74.5,-9.5,31,679,0.00,2.38,0.00,0.000,4,0.000,0.063,2131,3865,3417
$GC,752,-1.03,-146.6,82.1,-9.3,34,759,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2597,3417
$GC,1068,-1.03,-146.6,109.9,-8.9,50,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,1378,-1.03,-146.6,132.8,-6.8,65,1382,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1212,3418
$GC,1419,-1.07,-146.6,135.5,-6.7,67,1424,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2603,3417
$GC,1746,-1.07,-146.6,159.6,-7.6,83,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,2055,-1.07,-146.6,184.2,-7.9,98,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,2365,-1.07,-146.6,209.9,-8.1,113,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,2674,-1.07,-146.6,234.2,-7.3,128,2678,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1214,3418
$GC,2715,-1.12,-146.6,237.2,-7.3,130,2719,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2606,3418
$GC,3042,-1.12,-146.6,260.6,-7.4,146,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3418
$GC,3351,-1.12,-146.6,283.7,-7.6,161,3355,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1214,3417
$GC,3391,-1.17,-146.6,286.8,-8.6,163,3395,0.12,2.45,0.00,0.000,6,0.047,0.038,2092,2608,3417
$GC,3717,-1.06,-146.6,320.3,-11.1,179,3719,0.17,0.00,0.00,0.000,6,0.100,0.000,2124,2608,3417
$GC,4026,-1.06,-146.6,348.1,-8.6,194,4030,0.00,2.47,0.00,0.000,4,0.000,0.041,2124,1205,3417
$GC,4066,-1.06,-146.6,351.6,-8.5,196,4071,0.00,2.45,0.00,0.000,6,0.000,0.039,2124,2600,3418
$GC,4393,-1.06,-146.6,379.0,-8.1,212,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3417
$GC,4703,-1.06,-146.6,403.1,-7.5,227,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3417
$GC,5015,-1.06,-146.6,425.4,-7.3,242,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3417
$GC,5321,-1.06,-146.6,447.5,-6.6,257,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3417
$GC,5630,-1.06,-146.6,471.7,-7.6,272,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3416
$STATE,5751,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5752,begin apogee
$GC,5759,-0.31,0.0,482.4,8.7,278,5887,0.82,0.00,125.05,0.867,6,0.100,0.000,2292,2301,2817
$STATE,5888,end apogee,CONTROL_FINISHED_OK
$STATE,5888,begin climb
$GC,5891,1.03,146.6,486.5,0.0,284,6025,1.35,2.58,126.38,0.855,4,0.074,0.047,2578,907,2218
$GC,6124,0.94,150.2,479.0,7.4,295,6133,0.00,2.47,3.92,0.516,6,0.000,0.038,2578,2302,2204
$GC,6457,0.88,150.2,452.1,8.4,311,6459,0.15,0.00,0.00,0.000,6,0.097,0.000,2549,2303,2201
$GC,6766,0.89,163.0,427.5,7.1,326,6784,0.00,0.00,12.20,0.743,6,0.000,0.000,2549,2302,2151
$GC,7094,0.94,203.6,406.8,6.1,342,7137,0.00,2.75,36.62,0.801,4,0.000,0.066,2549,3707,1986
$GC,7262,0.94,207.8,395.1,7.4,349,7274,0.00,2.45,4.78,0.564,6,0.000,0.032,2549,2311,1968
$GC,7583,0.98,242.4,375.5,6.3,365,7618,0.10,0.00,32.25,0.776,6,0.052,0.000,2578,2310,1828
$GC,7914,0.98,242.4,349.4,8.1,381,7918,0.00,2.60,0.00,0.000,4,0.000,0.063,2578,3707,1822
$GC,7969,0.93,242.4,344.6,8.6,383,7975,0.00,2.47,0.00,0.000,6,0.000,0.032,2578,2298,1822
$GC,8285,0.93,242.4,318.7,8.0,399,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1821
$GC,8594,0.93,242.4,294.3,7.8,414,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1820
$GC,8903,0.93,242.4,270.3,8.1,429,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1820
$GC,9212,0.93,242.4,243.0,9.1,444,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1820
$GC,9522,0.93,242.4,214.4,9.4,459,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1820
$GC,9831,0.93,242.4,183.9,9.8,474,9835,0.00,2.60,0.00,0.000,4,0.000,0.061,2578,3707,1820
$GC,9872,0.93,242.4,179.9,10.5,476,9876,0.00,2.45,0.00,0.000,6,0.000,0.031,2578,2297,1820
$GC,10198,0.93,242.4,149.2,9.7,492,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1820
$GC,10508,0.93,242.4,116.8,10.6,507,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2296,1820
$GC,10818,0.93,242.4,84.1,10.0,522,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2296,1820
$GC,11126,0.93,242.4,53.3,10.2,537,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2296,1820
$GC,11436,0.93,242.4,25.2,8.3,552,11440,0.00,2.50,0.00,0.000,4,0.000,0.048,2578,897,1820
$GC,11502,0.93,242.4,19.8,8.3,555,11507,0.00,2.45,0.00,0.000,6,0.000,0.035,2578,2303,1818
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11719,begin surface coast
$FINISH,0.6,1.021552
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11763,2.47,0.243,0,0,1797,250.21
$SM_GC,2.79,0.00,0.00,2.47,0.000,0.000,0.243,71,2603,1797,-10.53,0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1728
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,425.4,65.0
$24V_AH,23.7,13.964
$10V_AH,10.1,5.963
$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,26.925,55.025,341.200,2.475,0.000,73.052,128.423,260.751,4.250,0.000,0.000,16.242,1025.399,9234.372,414.642,1209.190,650.747,0.000,1009.703,0.000,1179.090,0.000,27.249,0.000
$DEVICE_MAMPS,190.216,65.962,866.710,243.139,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.644,386.229,404.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28605,567
$CAP_FILE_SIZE,84673,0
$CFSIZE,260165632,255426560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140609,031325,6202.761,-911.387,43,1.1,43,-9.5