version: 66.04
glider: 16
mission: 13
dive: 45
start: 6 12 109 20 59 44
data:
$ID,16
$MISSION,13
$DIVE,45
$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,-2108385.5
$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,45
$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
$GPS1,205437,6205.665,-904.880,30,1.2,30,-9.5
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.5
$GPS2,205926,6205.704,-904.847,12,1.2,12,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6205.704,-927.921
$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,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-59.08,0.000,2,0.000,0.000,77,2601,3247
$GC,81,-1.03,-146.6,4.9,-8.5,3,103,12.12,2.33,-2.88,0.000,4,0.192,0.078,2131,3858,3416
$GC,356,-1.03,-146.6,41.7,-10.0,15,360,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2594,3416
$GC,683,-1.03,-146.6,68.8,-8.5,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2592,3416
$GC,994,-1.03,-146.6,97.1,-9.5,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2592,3416
$GC,1302,-1.03,-146.6,126.7,-9.5,61,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3416
$GC,1611,-1.03,-146.6,156.5,-10.0,76,1615,0.00,2.45,0.00,0.000,4,0.000,0.043,2132,1205,3416
$GC,1666,-1.08,-146.6,162.1,-9.9,78,1673,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2598,3416
$GC,1982,-1.08,-146.6,192.3,-8.9,94,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3416
$GC,2291,-1.08,-146.6,220.8,-9.8,109,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3416
$GC,2601,-1.08,-146.6,249.7,-9.2,124,2609,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1209,3416
$GC,2659,-1.13,-146.6,255.7,-9.7,126,2663,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2601,3416
$GC,2975,-1.13,-146.6,285.1,-9.2,141,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3416
$GC,3285,-1.13,-146.6,313.1,-9.3,156,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3416
$GC,3594,-1.13,-146.6,341.5,-9.1,171,3598,0.00,2.45,0.00,0.000,4,0.000,0.042,2132,1209,3416
$GC,3638,-1.20,-146.6,345.6,-9.2,173,3643,0.15,2.45,0.00,0.000,6,0.043,0.039,2087,2601,3416
$GC,3960,-1.10,-146.6,379.4,-10.6,189,3962,0.17,0.00,0.00,0.000,6,0.101,0.000,2119,2601,3416
$GC,4268,-1.10,-146.6,409.3,-10.9,204,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2602,3415
$STATE,4514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4514,begin apogee
$GC,4521,-0.31,0.0,439.2,12.3,216,4648,0.85,0.00,123.78,0.836,6,0.105,0.000,2290,2300,2817
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4652,1.03,146.6,446.3,0.0,222,4785,1.35,2.70,125.05,0.825,4,0.074,0.067,2577,3709,2218
$GC,4895,0.91,146.6,436.2,10.2,234,4900,0.00,2.45,0.00,0.000,6,0.000,0.032,2577,2312,2215
$GC,5223,0.87,168.1,411.4,6.8,250,5248,0.15,2.67,18.85,0.758,4,0.100,0.066,2549,3700,2131
$GC,5341,0.82,168.1,402.6,8.5,255,5345,0.00,2.47,0.00,0.000,6,0.000,0.033,2549,2296,2129
$GC,5661,0.82,168.1,375.9,7.7,271,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2296,2128
$GC,5971,0.82,168.1,350.7,8.3,286,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2296,2126
$GC,6280,0.82,168.1,325.4,8.2,301,6284,0.00,2.62,0.00,0.000,4,0.000,0.064,2549,3703,2125
$GC,6324,0.78,168.1,321.4,9.4,303,6329,0.00,2.45,0.00,0.000,6,0.000,0.031,2549,2298,2126
$GC,6645,0.78,168.1,296.8,7.6,319,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2297,2126
$GC,6955,0.78,168.1,272.9,7.8,334,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2297,2125
$GC,7264,0.78,168.1,249.2,7.7,349,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2297,2125
$GC,7573,0.79,178.7,226.4,7.1,364,7585,0.00,0.00,9.73,0.621,6,0.000,0.000,2549,2297,2088
$GC,7883,0.79,178.7,203.2,7.6,379,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2297,2085
$GC,8192,0.81,203.0,181.3,6.7,394,8215,0.00,0.00,21.65,0.648,6,0.000,0.000,2549,2297,1989
$GC,8522,0.91,247.9,160.8,6.0,410,8563,0.00,0.00,39.80,0.651,6,0.000,0.000,2549,2297,1806
$GC,8873,1.01,269.9,138.3,6.7,427,8895,0.15,0.00,19.33,0.612,6,0.048,0.000,2592,2296,1716
$GC,9202,1.01,269.9,107.7,9.8,443,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2296,1711
$GC,9510,1.01,269.9,76.8,10.2,458,9514,0.00,2.53,0.00,0.000,4,0.000,0.050,2592,897,1710
$GC,9550,1.01,269.9,72.5,10.1,460,9554,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2308,1708
$GC,9876,1.01,269.9,40.9,9.3,476,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2308,1709
$GC,10186,1.01,269.9,15.7,8.6,491,10190,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,897,1709
$GC,10252,1.01,269.9,9.5,9.8,494,10256,0.00,2.45,0.00,0.000,6,0.000,0.035,2592,2301,1707
$STATE,10323,end climb,SURFACE_DEPTH_REACHED
$STATE,10323,begin surface coast
$FINISH,1.0,1.026799
$STATE,10345,end surface coast,CONTROL_FINISHED_OK
$STATE,10345,begin surface
$SM_CCo,10428,0.00,0.000,0,0,1705,272.77
$SM_GC,1.58,12.18,0.00,0.00,0.095,0.000,0.000,75,2607,1705,-10.45,0.23,272.77
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1717
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.4,48.7
$24V_AH,23.7,13.097
$10V_AH,10.1,5.495
$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,27.125,45.525,358.175,0.000,0.000,18.002,27.739,148.930,3.000,0.000,0.000,12.333,903.018,7988.852,422.762,1057.773,350.885,0.000,947.742,0.000,1039.731,0.000,22.061,0.000
$DEVICE_MAMPS,191.750,78.234,836.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.511,359.737,382.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,499
$CAP_FILE_SIZE,69608,0
$CFSIZE,260165632,255778816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120609,235457,6206.629,-904.167,29,2.3,48,-9.5