version: 66.04
glider: 16
mission: 13
dive: 55
start: 6 14 109 3 21 38
data:
$ID,16
$MISSION,13
$DIVE,55
$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,-2108589.5
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,031325,6202.761,-911.387,43,1.1,43,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.0
$GPS2,032120,6202.731,-911.290,12,1.9,12,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6202.731,-934.327
$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,-54.50,0.000,6,0.000,0.000,71,2604,3415
$GC,79,-1.03,-146.6,7.9,-15.1,3,101,11.93,2.38,0.00,0.000,4,0.184,0.063,2128,3860,3416
$GC,354,-1.03,-146.6,47.9,-9.6,15,358,0.00,2.17,0.00,0.000,6,0.000,0.028,2128,2583,3416
$GC,675,-1.03,-146.6,79.5,-10.0,31,679,0.00,2.35,0.00,0.000,4,0.000,0.063,2128,3854,3417
$GC,716,-1.03,-146.6,83.6,-10.6,33,720,0.00,2.12,0.00,0.000,6,0.000,0.029,2128,2597,3417
$GC,1048,-1.03,-146.6,115.6,-9.7,49,1052,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1210,3418
$GC,1098,-1.03,-146.6,120.7,-9.6,51,1103,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2599,3418
$GC,1415,-1.03,-146.6,150.6,-9.6,66,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3417
$GC,1724,-1.03,-146.6,179.9,-9.2,81,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3417
$GC,2033,-1.03,-146.6,208.0,-9.3,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3418
$GC,2342,-1.03,-146.6,237.3,-9.6,111,2346,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1210,3417
$GC,2386,-1.07,-146.6,241.7,-9.3,113,2390,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3417
$GC,2707,-1.07,-146.6,272.7,-9.8,129,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3017,-1.07,-146.6,301.6,-8.9,144,3022,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3417
$GC,3062,-1.07,-146.6,305.7,-8.8,146,3066,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2601,3418
$GC,3383,-1.07,-146.6,333.7,-8.8,162,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3417
$GC,3692,-1.07,-146.6,363.0,-9.6,177,3696,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3417
$GC,3731,-1.11,-146.6,366.9,-9.6,179,3736,0.00,2.45,0.00,0.000,6,0.000,0.039,2129,2602,3417
$GC,4059,-1.11,-146.6,400.3,-11.2,195,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3417
$GC,4367,-1.11,-146.6,433.9,-10.9,210,4371,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1210,3417
$GC,4408,-1.17,-146.6,438.4,-11.4,212,4413,0.12,2.45,0.00,0.000,6,0.048,0.039,2088,2602,3417
$GC,4734,-1.07,-146.6,477.6,-10.9,228,4739,0.17,2.35,0.00,0.000,4,0.101,0.073,2123,3860,3416
$STATE,4765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4765,begin apogee
$GC,4774,-0.31,0.0,481.0,10.2,229,4902,0.82,0.00,124.43,0.866,6,0.133,0.000,2283,2316,2817
$STATE,4903,end apogee,CONTROL_FINISHED_OK
$STATE,4903,begin climb
$GC,4906,1.03,146.6,487.0,0.0,236,5040,1.40,2.62,126.07,0.855,4,0.074,0.049,2580,898,2218
$GC,5155,0.96,168.0,479.6,6.8,247,5182,0.00,2.50,19.10,0.792,6,0.000,0.037,2580,2305,2132
$GC,5492,0.91,180.6,455.9,7.1,264,5513,0.12,2.72,11.95,0.744,4,0.094,0.065,2557,3708,2080
$GC,5607,0.87,206.6,447.6,6.6,269,5637,0.00,2.47,24.15,0.794,6,0.000,0.033,2557,2304,1974
$GC,5960,0.92,249.8,422.9,6.0,286,6005,0.00,2.67,39.17,0.803,4,0.000,0.064,2557,3694,1798
$GC,6034,0.94,264.0,418.0,7.0,289,6053,0.00,2.47,13.82,0.741,6,0.000,0.032,2557,2298,1740
$GC,6376,1.00,264.0,393.4,8.2,306,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2298,1734
$GC,6686,1.08,285.6,371.0,6.8,321,6708,0.17,0.00,19.77,0.751,6,0.045,0.000,2607,2297,1652
$GC,7014,1.03,285.6,339.5,9.8,337,7019,0.12,2.53,0.00,0.000,4,0.094,0.050,2583,895,1648
$GC,7076,1.03,285.6,333.7,8.7,340,7081,0.00,2.47,0.00,0.000,6,0.000,0.037,2583,2302,1645
$GC,7404,1.03,285.6,305.2,8.8,356,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1645
$GC,7713,1.03,285.6,275.3,10.3,371,7717,0.00,2.53,0.00,0.000,4,0.000,0.047,2583,889,1645
$GC,7756,1.03,285.6,270.6,10.0,373,7761,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2302,1644
$GC,8083,1.03,285.6,238.3,9.3,389,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1644
$GC,8393,1.03,285.6,211.8,8.2,404,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1644
$GC,8702,1.03,285.6,186.0,8.3,419,8706,0.00,2.53,0.00,0.000,4,0.000,0.047,2583,896,1644
$GC,8745,1.03,285.6,182.1,9.0,421,8749,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2308,1644
$GC,9072,1.03,285.6,152.5,9.0,437,9077,0.00,2.53,0.00,0.000,4,0.000,0.046,2583,895,1644
$GC,9112,1.03,285.6,148.8,9.9,439,9116,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2309,1644
$GC,9439,1.03,285.6,118.3,9.0,455,9443,0.00,2.53,0.00,0.000,4,0.000,0.045,2583,895,1644
$GC,9483,1.03,285.6,114.2,9.2,457,9487,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2300,1644
$GC,9804,1.03,285.6,85.6,9.2,473,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2300,1644
$GC,10113,1.03,285.6,57.5,9.4,488,10118,0.00,2.50,0.00,0.000,4,0.000,0.045,2583,895,1644
$GC,10186,1.03,285.6,50.1,10.6,491,10190,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2301,1644
$GC,10502,1.03,285.6,20.8,9.3,506,10506,0.00,2.50,0.00,0.000,4,0.000,0.046,2583,895,1644
$GC,10534,1.03,285.6,17.7,9.2,507,10541,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2306,1644
$STATE,10703,end climb,SURFACE_DEPTH_REACHED
$STATE,10703,begin surface coast
$FINISH,0.6,1.026810
$STATE,10727,end surface coast,CONTROL_FINISHED_OK
$STATE,10727,begin surface
$SM_CCo,10810,0.00,0.000,0,0,1641,288.47
$SM_GC,1.62,11.98,0.00,0.00,0.090,0.000,0.000,73,2601,1641,-10.46,0.03,288.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1719
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,427.1,63.6
$24V_AH,23.7,14.070
$10V_AH,10.1,6.019
$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,26.850,89.425,378.475,0.000,0.000,51.432,71.336,186.634,3.250,0.000,0.000,12.575,967.542,8186.677,441.759,1204.447,489.642,0.000,1069.618,0.000,1175.833,0.000,24.011,0.000
$DEVICE_MAMPS,184.080,72.865,865.943,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.836,351.917,375.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,517
$CAP_FILE_SIZE,83704,0
$CFSIZE,260165632,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140609,062306,6200.988,-913.294,37,1.2,42,-9.5