version: 66.04
glider: 16
mission: 13
dive: 143
start: 7 2 109 2 59 38
data:
$ID,16
$MISSION,13
$DIVE,143
$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,-2110125.5
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,025436,6349.917,-1347.126,32,1.0,32,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.6
$GPS2,025920,6349.946,-1347.012,12,1.2,12,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6349.946,-1411.500
$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,282.8,20000,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.97,0.000,2,0.000,0.000,71,2606,3304
$GC,123,-1.03,-146.6,5.2,-4.4,5,145,11.88,2.55,-1.88,0.000,4,0.183,0.051,2128,1191,3417
$GC,207,-1.03,-146.6,24.3,-10.5,8,213,0.00,2.47,0.00,0.000,6,0.000,0.037,2128,2598,3417
$GC,524,-1.03,-146.6,53.7,-8.6,24,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3417
$GC,832,-1.03,-146.6,79.7,-8.3,39,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3418
$GC,1141,-1.03,-146.6,109.5,-10.7,54,1146,0.00,2.50,0.00,0.000,4,0.000,0.038,2128,1180,3418
$GC,1186,-1.07,-146.6,114.6,-11.1,56,1190,0.00,2.50,0.00,0.000,6,0.000,0.036,2128,2600,3418
$GC,1509,-1.07,-146.6,151.4,-12.3,72,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1817,-1.07,-146.6,185.5,-11.3,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,2126,-1.07,-146.6,218.5,-10.4,102,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,2435,-1.07,-146.6,248.2,-9.7,117,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,2746,-1.07,-146.6,275.9,-8.6,132,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3417
$GC,3054,-1.07,-146.6,304.3,-9.3,147,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,3363,-1.07,-146.6,334.8,-11.6,162,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,3673,-1.07,-146.6,362.1,-8.4,177,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3418
$GC,3982,-1.02,-146.6,389.6,-10.0,192,3986,0.00,2.53,0.00,0.000,4,0.000,0.042,2128,1182,3418
$GC,4022,-1.09,-146.6,392.2,-6.3,194,4026,0.00,2.50,0.00,0.000,6,0.000,0.037,2128,2601,3418
$GC,4348,-1.09,-146.6,422.5,-7.5,210,4353,0.00,2.50,0.00,0.000,4,0.000,0.039,2128,1187,3417
$GC,4421,-1.14,-146.6,431.0,-10.7,213,4426,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,2606,3417
$GC,4737,-1.14,-146.6,468.6,-9.2,228,4741,0.00,2.50,0.00,0.000,4,0.000,0.038,2128,1185,3418
$GC,4781,-1.20,-146.6,472.8,-9.1,230,4786,0.15,2.50,0.00,0.000,6,0.044,0.037,2085,2605,3417
$GC,5103,-1.31,-146.6,490.1,-0.1,246,5108,0.00,2.35,0.00,0.000,4,0.000,0.070,2084,3864,3417
$STATE,5196,end dive,NO_VERTICAL_VELOCITY
$STATE,5196,begin apogee
$GC,5206,-0.31,0.0,490.2,0.0,250,5337,0.95,0.00,124.72,0.903,6,0.088,0.000,2286,2291,2815
$STATE,5338,end apogee,CONTROL_FINISHED_OK
$STATE,5338,begin climb
$GC,5341,1.03,146.6,490.0,0.0,257,5472,1.42,0.00,126.20,0.891,6,0.089,0.000,2578,2290,2219
$GC,5774,1.11,217.1,471.2,5.1,278,5837,0.00,0.00,61.33,0.873,6,0.000,0.000,2579,2289,1932
$GC,6143,1.11,219.5,446.1,7.4,296,6148,0.12,2.50,0.00,0.000,4,0.054,0.048,2613,902,1923
$GC,6195,1.01,219.5,441.7,9.2,298,6200,0.17,2.47,0.00,0.000,6,0.087,0.035,2579,2305,1922
$GC,6511,1.06,264.5,417.1,6.0,313,6560,0.00,2.62,41.78,0.844,4,0.000,0.044,2579,903,1736
$GC,6633,1.06,264.5,406.3,10.4,318,6640,0.00,2.47,0.00,0.000,6,0.000,0.035,2579,2303,1731
$GC,6950,1.12,264.5,378.1,8.1,334,6951,0.12,0.00,0.00,0.000,6,0.049,0.000,2615,2302,1729
$GC,7259,1.04,264.5,344.9,10.0,349,7263,0.15,2.50,0.00,0.000,4,0.090,0.044,2586,901,1728
$GC,7303,1.04,264.5,340.1,12.2,351,7307,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2298,1727
$GC,7624,1.04,264.5,304.4,12.1,367,7628,0.00,2.50,0.00,0.000,4,0.000,0.042,2586,899,1727
$GC,7713,1.08,264.5,293.9,11.4,371,7718,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2302,1726
$GC,8035,1.08,264.5,262.7,9.5,387,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2302,1726
$GC,8344,1.08,264.5,230.0,10.5,402,8348,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,900,1727
$GC,8399,1.08,264.5,223.8,10.3,404,8404,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2301,1725
$GC,8715,1.08,264.5,190.8,10.2,419,8719,0.00,2.53,0.00,0.000,4,0.000,0.044,2586,892,1727
$GC,8755,1.08,264.5,186.7,10.6,421,8760,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2301,1725
$GC,9082,1.08,264.5,155.0,9.6,437,9086,0.00,2.58,0.00,0.000,4,0.000,0.058,2586,3697,1726
$GC,9116,1.08,264.5,151.7,9.9,438,9122,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2294,1727
$GC,9432,1.08,264.5,124.1,8.9,454,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2293,1726
$GC,9742,1.08,264.5,91.1,11.2,469,9746,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,894,1726
$GC,9805,1.08,264.5,83.8,12.4,472,9809,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2299,1726
$GC,10132,1.08,264.5,46.1,11.1,488,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2300,1726
$GC,10443,1.14,264.5,14.7,8.9,503,10448,0.10,2.50,0.00,0.000,4,0.052,0.043,2618,898,1726
$STATE,10552,end climb,SURFACE_DEPTH_REACHED
$STATE,10552,begin surface coast
$FINISH,0.8,1.026663
$STATE,10575,end surface coast,CONTROL_FINISHED_OK
$STATE,10575,begin surface
$SM_CCo,10662,0.00,0.000,0,0,1724,267.87
$SM_GC,1.53,12.23,0.00,0.00,0.091,0.000,0.000,78,2597,1724,-10.46,-0.08,267.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1746
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.5,50.5
$24V_AH,23.7,25.845
$10V_AH,10.1,12.765
$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,27.300,75.525,354.025,0.000,0.000,18.023,27.875,129.522,3.500,0.000,0.000,12.341,938.495,8063.223,485.062,1108.689,351.177,0.000,1047.062,0.000,1086.328,0.000,25.287,0.000
$DEVICE_MAMPS,183.313,69.797,902.759,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.963,345.443,368.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,509
$CAP_FILE_SIZE,76085,0
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020709,055837,6350.496,-1348.320,41,1.2,41,-12.8