version: 66.04
glider: 16
mission: 13
dive: 58
start: 6 14 109 13 26 3
data:
$ID,16
$MISSION,13
$DIVE,58
$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,-2108635.2
$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,26
$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
$GPS1,131814,6158.772,-919.734,26,1.8,34,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.8
$GPS2,132544,6158.760,-919.717,13,1.6,13,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6158.760,-942.704
$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,279.6,20000,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.05,0.000,2,0.000,0.000,70,2604,3405
$GC,81,-1.03,-146.6,5.7,-10.0,3,103,11.85,2.40,-0.20,0.000,4,0.181,0.077,2129,3860,3417
$GC,356,-1.03,-146.6,45.7,-10.1,15,360,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2583,3417
$GC,677,-1.03,-146.6,73.8,-8.9,31,681,0.00,2.35,0.00,0.000,4,0.000,0.063,2129,3856,3418
$GC,732,-1.03,-146.6,79.3,-9.2,33,739,0.00,2.12,0.00,0.000,6,0.000,0.029,2129,2597,3418
$GC,1048,-1.03,-146.6,107.7,-9.6,49,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3418
$GC,1359,-1.03,-146.6,136.6,-9.2,64,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3418
$GC,1666,-1.03,-146.6,165.3,-9.7,79,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3418
$GC,1976,-1.03,-146.6,195.4,-9.4,94,1980,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1210,3418
$GC,2038,-1.07,-146.6,201.3,-8.8,97,2042,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2601,3418
$GC,2364,-1.07,-146.6,234.4,-10.2,113,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,2673,-1.07,-146.6,265.5,-9.9,128,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,2983,-1.07,-146.6,294.5,-9.2,143,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,3292,-1.07,-146.6,322.0,-8.6,158,3296,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,3332,-1.12,-146.6,325.3,-8.1,160,3337,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2603,3418
$GC,3660,-1.12,-146.6,352.3,-8.1,176,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3418
$GC,3969,-1.12,-146.6,378.5,-8.9,191,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,4278,-1.12,-146.6,407.3,-9.4,206,4283,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3417
$GC,4323,-1.16,-146.6,411.6,-9.5,208,4328,0.12,2.45,0.00,0.000,6,0.047,0.038,2090,2603,3417
$GC,4644,-1.07,-146.6,447.8,-11.3,224,4646,0.17,0.00,0.00,0.000,6,0.099,0.000,2123,2603,3417
$GC,4953,-1.07,-146.6,479.7,-10.5,239,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2604,3417
$GC,5262,-1.07,-146.6,512.3,-10.4,254,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2603,3417
$GC,5572,-1.07,-146.6,540.7,-8.9,269,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2603,3416
$STATE,5611,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5611,begin apogee
$GC,5618,-0.31,0.0,543.8,8.4,271,5747,0.82,0.00,125.75,0.898,6,0.097,0.000,2292,2303,2817
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5751,1.03,146.6,547.8,0.0,277,5888,1.33,2.75,127.72,0.887,4,0.065,0.064,2580,3707,2219
$GC,6074,0.94,178.2,536.0,6.4,292,6109,0.00,2.45,28.12,0.842,6,0.000,0.031,2580,2312,2089
$GC,6434,0.90,178.2,510.1,7.9,310,6436,0.12,0.00,0.00,0.000,6,0.096,0.000,2556,2312,2086
$GC,6740,0.90,178.2,483.2,8.5,325,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2085
$GC,7050,0.90,178.2,457.5,8.1,340,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2084
$GC,7359,0.90,178.2,432.2,8.1,355,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,7668,0.90,178.2,407.4,8.2,370,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,7978,0.90,178.2,381.6,8.4,385,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,8287,0.90,178.2,356.6,8.1,400,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,8596,0.90,178.2,332.3,7.9,415,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,8905,0.90,178.2,308.7,7.5,430,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,2083
$GC,9215,0.91,188.0,285.9,7.2,445,9226,0.00,0.00,8.80,0.634,6,0.000,0.000,2556,2312,2050
$GC,9524,0.93,210.0,264.4,6.7,460,9546,0.00,0.00,20.30,0.687,6,0.000,0.000,2556,2312,1961
$GC,9854,0.94,221.4,241.4,7.1,476,9867,0.00,0.00,11.43,0.635,6,0.000,0.000,2555,2312,1914
$GC,10163,0.94,221.4,215.8,9.1,491,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2312,1912
$GC,10472,0.98,221.4,184.9,10.4,506,10477,0.00,2.58,0.00,0.000,4,0.000,0.061,2556,3711,1912
$GC,10512,0.98,221.4,180.2,12.2,508,10516,0.00,2.45,0.00,0.000,6,0.000,0.031,2556,2295,1912
$GC,10845,1.03,221.4,144.3,10.6,524,10847,0.12,0.00,0.00,0.000,6,0.049,0.000,2594,2293,1911
$GC,11155,0.98,221.4,108.8,11.0,539,11157,0.12,0.00,0.00,0.000,6,0.097,0.000,2571,2292,1911
$GC,11463,0.98,221.4,79.0,9.4,554,11467,0.00,2.60,0.00,0.000,4,0.000,0.060,2571,3704,1911
$GC,11518,0.93,221.4,73.5,10.1,556,11525,0.00,2.42,0.00,0.000,6,0.000,0.031,2571,2298,1911
$GC,11834,0.93,221.4,45.7,8.1,572,11838,0.00,2.50,0.00,0.000,4,0.000,0.048,2571,896,1911
$GC,11884,0.93,221.4,41.4,8.3,574,11889,0.00,2.45,0.00,0.000,6,0.000,0.035,2571,2308,1909
$GC,12200,0.93,221.4,15.1,8.3,589,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2308,1909
$STATE,12363,end climb,SURFACE_DEPTH_REACHED
$STATE,12363,begin surface coast
$FINISH,0.7,1.003965
$STATE,12384,end surface coast,CONTROL_FINISHED_OK
$STATE,12384,begin surface
$SM_CCo,12407,18.42,0.542,0,0,1797,250.21
$SM_GC,2.41,0.00,0.00,18.42,0.000,0.000,0.542,66,2601,1797,-10.55,0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,1725
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.3,78.4
$24V_AH,23.7,14.369
$10V_AH,10.1,6.191
$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,26.400,44.950,322.125,18.425,0.000,36.549,52.382,196.835,3.750,0.000,0.000,15.381,1068.552,9710.226,420.438,1217.246,469.599,0.000,1008.595,0.000,1194.739,0.000,27.286,0.000
$DEVICE_MAMPS,181.012,76.700,898.157,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.981,407.500,409.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28566,598
$CAP_FILE_SIZE,82326,0
$CFSIZE,260165632,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140609,165430,6157.532,-922.323,37,1.0,42,-9.6