version: 66.04
glider: 16
mission: 13
dive: 53
start: 6 13 109 20 42 19
data:
$ID,16
$MISSION,13
$DIVE,53
$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,-2108559.2
$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,24
$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
$GPS1,203744,6201.991,-910.988,39,2.2,58,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.2
$GPS2,204201,6201.979,-911.009,12,1.3,17,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6201.979,-934.037
$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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.95,0.000,2,0.000,0.000,70,2607,3071
$GC,81,-1.03,-146.6,4.1,-6.2,3,107,11.82,2.40,-6.55,0.000,4,0.181,0.080,2129,3858,3417
$GC,360,-1.03,-146.6,40.5,-10.9,15,364,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2579,3418
$GC,682,-1.03,-146.6,66.9,-7.3,31,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2578,3418
$GC,993,-1.03,-146.6,88.2,-5.9,46,997,0.00,2.38,0.00,0.000,4,0.000,0.063,2129,3864,3418
$GC,1104,-1.03,-146.6,95.4,-6.4,51,1108,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2597,3418
$GC,1433,-1.03,-146.6,111.6,-5.1,67,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3418
$GC,1741,-1.03,-146.6,128.3,-5.4,82,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3418
$GC,2050,-1.03,-146.6,149.4,-7.2,97,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3418
$GC,2361,-1.03,-146.6,175.4,-9.3,112,2365,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1206,3418
$GC,2401,-1.03,-146.6,179.4,-9.4,114,2405,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2602,3418
$GC,2727,-1.03,-146.6,209.4,-9.3,130,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,3037,-1.03,-146.6,239.4,-10.0,145,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,3346,-1.03,-146.6,271.6,-10.2,160,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3418
$GC,3656,-1.03,-146.6,300.5,-8.6,175,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,3965,-1.03,-146.6,326.9,-8.8,190,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,4274,-1.03,-146.6,358.7,-11.2,205,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,4583,-1.03,-146.6,392.4,-11.4,220,4587,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3418
$GC,4633,-1.08,-146.6,398.1,-11.5,222,4637,0.00,2.45,0.00,0.000,6,0.000,0.039,2129,2602,3418
$GC,4948,-1.08,-146.6,432.6,-11.4,237,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,5257,-1.08,-146.6,454.3,-8.1,252,5262,0.00,2.47,0.00,0.000,4,0.000,0.044,2129,1205,3418
$GC,5308,-1.14,-146.6,459.1,-10.1,254,5312,0.00,2.47,0.00,0.000,6,0.000,0.040,2129,2608,3418
$STATE,5538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5538,begin apogee
$GC,5545,-0.31,0.0,484.1,10.7,265,5674,0.77,0.00,125.40,0.862,6,0.094,0.000,2288,2305,2817
$STATE,5675,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5678,1.03,146.6,487.8,0.0,271,5812,1.38,2.58,126.62,0.852,4,0.075,0.047,2579,908,2218
$GC,6042,0.95,155.2,472.9,7.2,287,6056,0.00,2.47,7.68,0.686,6,0.000,0.038,2579,2301,2184
$GC,6379,0.88,155.2,448.4,8.2,304,6381,0.15,0.00,0.00,0.000,6,0.097,0.000,2551,2301,2183
$GC,6688,0.97,266.5,434.6,3.7,319,6793,0.00,2.75,98.53,0.825,4,0.000,0.065,2551,3705,1728
$GC,6862,1.01,266.5,422.9,9.7,327,6867,0.12,2.47,0.00,0.000,6,0.050,0.033,2586,2305,1725
$GC,7188,1.01,266.5,392.0,9.8,343,7192,0.00,2.58,0.00,0.000,4,0.000,0.051,2586,891,1720
$GC,7254,1.01,266.5,385.5,9.7,346,7258,0.00,2.50,0.00,0.000,6,0.000,0.037,2586,2303,1719
$GC,7576,1.01,266.5,356.3,9.4,362,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2303,1719
$GC,7885,1.01,266.5,327.1,9.6,377,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2303,1719
$GC,8194,1.01,266.5,294.0,11.4,392,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2303,1719
$GC,8503,1.01,266.5,260.8,10.8,407,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2304,1718
$GC,8812,1.01,266.5,223.8,12.5,422,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2304,1719
$GC,9122,1.01,266.5,184.6,12.5,437,9126,0.00,2.53,0.00,0.000,4,0.000,0.046,2586,890,1718
$GC,9173,1.01,266.5,178.0,13.4,439,9178,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2304,1716
$GC,9495,1.01,266.5,139.4,11.4,455,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2304,1717
$GC,9804,1.01,266.5,104.1,12.3,470,9808,0.00,2.53,0.00,0.000,4,0.000,0.044,2586,892,1717
$GC,9837,1.01,266.5,99.6,13.0,471,9843,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2298,1717
$GC,10154,1.01,266.5,58.6,12.2,487,10158,0.00,2.50,0.00,0.000,4,0.000,0.045,2586,895,1717
$GC,10203,1.01,266.5,51.9,12.5,489,10208,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2302,1717
$GC,10519,1.01,266.5,16.2,10.7,504,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2302,1717
$STATE,10661,end climb,SURFACE_DEPTH_REACHED
$STATE,10661,begin surface coast
$FINISH,0.7,1.024155
$STATE,10683,end surface coast,CONTROL_FINISHED_OK
$STATE,10683,begin surface
$SM_CCo,10766,0.00,0.000,0,0,1715,270.32
$SM_GC,1.77,11.98,0.00,0.00,0.090,0.000,0.000,64,2600,1715,-10.45,0.00,270.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1731
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.8,43.2
$24V_AH,23.7,13.859
$10V_AH,10.1,5.904
$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,26.225,55.100,358.225,0.000,0.000,18.024,26.250,111.264,3.500,0.000,0.000,17.440,945.978,8192.518,407.548,1164.081,319.980,0.000,990.547,0.000,1136.188,0.000,25.272,0.000
$DEVICE_MAMPS,181.012,79.768,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.386,349.445,396.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25380,512
$CAP_FILE_SIZE,72583,0
$CFSIZE,260165632,255475712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130609,234300,6202.688,-911.806,39,1.9,39,-9.5