version: 66.04
glider: 16
mission: 13
dive: 144
start: 7 2 109 6 3 25
data:
$ID,16
$MISSION,13
$DIVE,144
$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,360
$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,-2110142.2
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,055837,6350.496,-1348.320,41,1.2,41,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.3
$GPS2,060307,6350.528,-1348.207,11,1.2,16,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6401.327,-1348.207
$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,12.8,20000,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-56.17,0.000,2,0.000,0.000,77,2597,3362
$GC,76,-1.03,-146.6,5.4,-7.7,3,99,12.07,2.53,-0.88,0.000,4,0.191,0.047,2128,1189,3419
$GC,317,-1.03,-146.6,46.1,-11.4,13,324,0.00,2.47,0.00,0.000,6,0.000,0.036,2128,2602,3420
$GC,633,-1.03,-146.6,78.6,-10.2,29,637,0.00,2.33,0.00,0.000,4,0.000,0.065,2128,3861,3419
$GC,718,-1.03,-146.6,87.8,-10.8,33,722,0.00,2.17,0.00,0.000,6,0.000,0.026,2128,2573,3419
$GC,1045,-1.03,-146.6,118.2,-8.9,49,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2571,3419
$GC,1355,-1.03,-146.6,146.6,-9.3,64,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2571,3419
$GC,1663,-1.03,-146.6,175.7,-9.0,79,1668,0.00,2.38,0.00,0.000,4,0.000,0.063,2129,3860,3419
$GC,1697,-1.03,-146.6,179.3,-10.0,80,1703,0.00,2.12,0.00,0.000,6,0.000,0.027,2128,2593,3419
$GC,2013,-1.03,-146.6,210.3,-10.6,96,2017,0.00,2.42,0.00,0.000,4,0.000,0.039,2128,1209,3420
$GC,2053,-1.07,-146.6,214.3,-9.8,98,2057,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2605,3419
$GC,2380,-1.07,-146.6,250.4,-10.7,114,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2606,3419
$GC,2688,-1.07,-146.6,277.3,-9.4,129,2692,0.00,2.33,0.00,0.000,4,0.000,0.066,2129,3864,3419
$GC,2728,-1.07,-146.6,280.6,-7.6,131,2731,0.00,2.12,0.00,0.000,6,0.000,0.026,2129,2600,3419
$GC,3060,-1.07,-146.6,310.4,-9.6,147,3065,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1214,3419
$GC,3101,-1.12,-146.6,314.2,-9.7,149,3105,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2599,3419
$GC,3428,-1.12,-146.6,344.5,-9.0,165,3432,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1205,3419
$GC,3485,-1.16,-146.6,349.6,-9.1,167,3492,0.00,2.45,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,3801,-1.16,-146.6,378.0,-7.9,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4110,-1.16,-146.6,403.8,-9.3,198,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4419,-1.16,-146.6,433.2,-9.6,213,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4729,-1.43,-146.6,458.3,-4.8,228,4734,0.35,2.45,0.00,0.000,4,0.048,0.039,2041,1209,3418
$STATE,4939,end dive,NO_VERTICAL_VELOCITY
$STATE,4940,begin apogee
$GC,4948,-0.31,0.0,458.4,0.0,237,5077,1.20,0.00,124.70,0.886,6,0.099,0.000,2286,2302,2817
$STATE,5077,end apogee,CONTROL_FINISHED_OK
$STATE,5078,begin climb
$GC,5080,1.03,146.6,458.3,0.0,244,5211,1.38,0.00,126.57,0.868,6,0.077,0.000,2579,2302,2219
$GC,5516,1.02,187.6,437.4,6.1,265,5559,0.00,2.67,35.97,0.837,4,0.000,0.062,2579,3705,2051
$GC,5610,0.95,187.6,429.3,8.1,269,5614,0.00,2.40,0.00,0.000,6,0.000,0.028,2578,2319,2048
$GC,5936,0.95,187.6,399.3,9.3,285,5940,0.00,2.55,0.00,0.000,4,0.000,0.048,2578,904,2045
$GC,5980,0.95,187.6,395.1,9.5,287,5984,0.00,2.47,0.00,0.000,6,0.000,0.034,2578,2310,2043
$GC,6301,0.95,187.6,369.7,8.2,303,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2310,2043
$GC,6610,0.95,187.6,344.8,7.6,318,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2310,2043
$GC,6919,0.95,187.6,319.4,9.2,333,6923,0.00,2.55,0.00,0.000,4,0.000,0.046,2578,897,2042
$GC,7003,0.95,187.6,311.6,9.9,337,7007,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2307,2041
$GC,7330,1.01,237.1,289.1,5.8,353,7375,0.00,0.00,43.08,0.775,6,0.000,0.000,2578,2307,1850
$GC,7679,1.05,237.1,262.4,8.8,370,7683,0.00,2.60,0.00,0.000,4,0.000,0.062,2578,3708,1843
$GC,7723,1.05,237.1,258.5,10.5,372,7727,0.00,2.45,0.00,0.000,6,0.000,0.029,2578,2300,1843
$GC,8044,1.07,253.3,236.2,6.9,388,8065,0.00,2.55,14.38,0.691,4,0.000,0.046,2578,901,1784
$GC,8128,1.17,303.4,230.2,5.8,391,8179,0.17,2.47,45.35,0.729,6,0.047,0.035,2628,2304,1580
$GC,8508,1.12,303.4,191.5,10.3,410,8510,0.12,0.00,0.00,0.000,6,0.099,0.000,2605,2304,1571
$GC,8815,1.12,303.4,161.2,10.1,425,8819,0.00,2.53,0.00,0.000,4,0.000,0.044,2604,899,1570
$GC,8854,1.12,303.4,157.0,11.0,427,8859,0.00,2.45,0.00,0.000,6,0.000,0.033,2605,2301,1568
$GC,9181,1.12,303.4,121.4,10.7,443,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2301,1568
$GC,9492,1.12,303.4,91.7,9.0,458,9496,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,893,1568
$GC,9559,1.12,303.4,85.4,8.8,461,9563,0.00,2.47,0.00,0.000,6,0.000,0.033,2604,2311,1566
$GC,9880,1.12,303.4,59.4,7.6,477,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2311,1566
$GC,10191,1.12,303.4,35.6,8.4,492,10195,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,895,1566
$GC,10254,1.12,303.4,29.3,10.9,495,10258,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2304,1566
$STATE,10538,end climb,SURFACE_DEPTH_REACHED
$STATE,10538,begin surface coast
$FINISH,0.7,1.026668
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10559,begin surface
$SM_CCo,10642,0.00,0.000,0,0,1565,307.12
$SM_GC,1.64,12.25,0.00,0.00,0.095,0.000,0.000,72,2607,1565,-10.46,0.20,307.12
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1767
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.7,25.947
$10V_AH,10.1,12.818
$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,27.550,78.100,390.050,0.000,0.000,18.063,29.634,116.739,3.750,0.000,0.000,16.100,953.071,7966.641,464.532,1187.431,345.968,0.000,1062.114,0.000,1154.833,0.000,28.064,0.000
$DEVICE_MAMPS,190.983,65.962,885.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.637,346.881,376.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25402,510
$CAP_FILE_SIZE,76966,0
$CFSIZE,260165632,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020709,090206,6352.361,-1344.893,37,1.3,43,-12.8