version: 66.04
glider: 16
mission: 13
dive: 52
start: 6 13 109 17 41 38
data:
$ID,16
$MISSION,13
$DIVE,52
$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,-2108541
$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,33
$R_STBD_OVSHOOT,19
$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
$GPS1,173656,6202.499,-908.861,33,3.4,52,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.2
$GPS2,174120,6202.451,-908.819,14,1.7,14,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6202.451,-931.853
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-64.62,0.000,6,0.000,0.000,70,2596,3416
$GC,85,-1.03,-146.6,6.4,-8.1,4,107,11.95,2.40,0.00,0.000,4,0.185,0.062,2131,3866,3417
$GC,337,-1.03,-146.6,45.6,-8.5,15,341,0.00,2.20,0.00,0.000,6,0.000,0.028,2131,2577,3418
$GC,664,-1.03,-146.6,88.2,-13.9,31,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2575,3418
$GC,974,-1.03,-146.6,136.1,-16.2,46,978,0.00,2.40,0.00,0.000,4,0.000,0.064,2131,3869,3419
$GC,1024,-1.03,-146.6,144.8,-16.9,48,1028,0.00,2.17,0.00,0.000,6,0.000,0.029,2131,2589,3418
$GC,1339,-1.03,-146.6,194.1,-15.0,63,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2587,3419
$GC,1649,-1.03,-146.6,238.1,-14.2,78,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2585,3419
$GC,1960,-1.03,-146.6,276.2,-11.3,93,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2586,3419
$GC,2267,-1.03,-146.6,304.7,-8.4,108,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2586,3419
$GC,2577,-1.03,-146.6,326.7,-6.7,123,2581,0.00,2.45,0.00,0.000,4,0.000,0.043,2131,1202,3419
$GC,2627,-1.08,-146.6,329.9,-6.3,125,2631,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2607,3419
$GC,2943,-1.08,-146.6,349.1,-6.3,140,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,3252,-1.08,-146.6,371.0,-7.2,155,3256,0.00,2.47,0.00,0.000,4,0.000,0.042,2131,1209,3418
$GC,3297,-1.14,-146.6,374.2,-6.4,157,3302,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3418
$GC,3619,-1.14,-146.6,395.9,-7.2,173,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,3928,-1.14,-146.6,419.1,-7.0,188,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,4237,-1.14,-146.6,441.9,-7.6,203,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3418
$GC,4546,-1.14,-146.6,464.3,-7.6,218,4550,0.00,2.35,0.00,0.000,4,0.000,0.073,2131,3858,3418
$GC,4591,-1.14,-146.6,468.6,-9.0,220,4595,0.00,2.15,0.00,0.000,6,0.000,0.031,2131,2599,3418
$STATE,4771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4771,begin apogee
$GC,4778,-0.31,0.0,482.5,7.5,229,4906,0.77,0.00,125.03,0.865,6,0.099,0.000,2289,2298,2817
$STATE,4907,end apogee,CONTROL_FINISHED_OK
$STATE,4907,begin climb
$GC,4910,1.03,146.6,487.0,0.0,235,5044,1.35,2.58,126.35,0.854,4,0.070,0.049,2579,908,2218
$GC,5154,0.98,173.1,481.4,6.6,246,5185,0.00,2.47,23.60,0.808,6,0.000,0.038,2578,2301,2110
$GC,5495,0.95,187.6,456.0,7.0,263,5514,0.00,0.00,13.27,0.759,6,0.000,0.000,2578,2301,2052
$GC,5824,0.95,187.6,431.4,8.1,279,5828,0.00,2.62,0.00,0.000,4,0.000,0.066,2578,3707,2050
$GC,5896,0.87,187.6,424.7,9.5,282,5901,0.15,2.45,0.00,0.000,6,0.094,0.033,2550,2306,2050
$GC,6212,0.88,201.0,401.5,7.0,297,6230,0.00,0.00,12.65,0.738,6,0.000,0.000,2550,2305,1997
$GC,6540,0.91,229.5,379.3,6.5,313,6569,0.00,0.00,26.80,0.775,6,0.000,0.000,2551,2305,1881
$GC,6870,0.98,241.1,356.0,7.1,329,6884,0.12,0.00,11.35,0.702,6,0.050,0.000,2589,2305,1834
$GC,7179,0.98,241.1,326.4,10.2,344,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1832
$GC,7489,0.94,241.1,294.7,10.1,359,7491,0.12,0.00,0.00,0.000,6,0.096,0.000,2565,2304,1830
$GC,7798,0.94,241.1,268.2,7.8,374,7802,0.00,2.53,0.00,0.000,4,0.000,0.049,2565,897,1830
$GC,7848,0.94,241.1,263.8,8.0,376,7852,0.00,2.47,0.00,0.000,6,0.000,0.036,2565,2305,1829
$GC,8169,0.97,266.7,241.6,6.6,392,8194,0.00,0.00,23.62,0.686,6,0.000,0.000,2565,2305,1729
$GC,8499,1.10,341.8,224.1,4.9,408,8568,0.15,0.00,66.93,0.696,6,0.047,0.000,2610,2305,1423
$GC,8867,1.10,341.8,197.2,8.0,426,8872,0.00,2.55,0.00,0.000,4,0.000,0.047,2610,891,1413
$GC,8907,1.10,341.8,193.4,9.5,428,8912,0.00,2.50,0.00,0.000,6,0.000,0.036,2610,2311,1412
$GC,9234,1.10,341.8,155.0,12.9,444,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2310,1412
$GC,9544,1.10,341.8,107.7,16.5,459,9548,0.00,2.55,0.00,0.000,4,0.000,0.046,2610,897,1411
$GC,9616,1.10,341.8,95.7,16.1,462,9620,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2305,1410
$GC,9932,1.10,341.8,52.6,12.6,477,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2305,1410
$GC,10241,1.10,341.8,15.9,12.0,492,10245,0.00,2.53,0.00,0.000,4,0.000,0.045,2610,895,1410
$GC,10281,1.10,341.8,11.5,12.0,494,10285,0.00,2.45,0.00,0.000,6,0.000,0.035,2610,2302,1410
$STATE,10363,end climb,SURFACE_DEPTH_REACHED
$STATE,10363,begin surface coast
$FINISH,0.7,1.006007
$STATE,10387,end surface coast,CONTROL_FINISHED_OK
$STATE,10387,begin surface
$SM_CCo,10471,0.00,0.000,0,0,1408,345.63
$SM_GC,1.50,12.25,0.00,0.00,0.094,0.000,0.000,70,2607,1408,-10.46,0.17,345.63
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1704
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.4,64.6
$24V_AH,23.7,13.764
$10V_AH,10.1,5.850
$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,26.875,54.700,429.600,0.000,0.000,18.044,31.280,116.398,3.250,0.000,0.000,14.765,911.828,7943.410,499.540,1062.125,325.413,0.000,1043.613,0.000,1038.700,0.000,23.711,0.000
$DEVICE_MAMPS,184.847,72.865,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.857,345.699,315.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25411,499
$CAP_FILE_SIZE,72075,0
$CFSIZE,260165632,255512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130609,203744,6201.991,-910.988,39,2.2,58,-9.5