version: 66.04
glider: 16
mission: 13
dive: 170
start: 7 7 109 10 37 20
data:
$ID,16
$MISSION,13
$DIVE,170
$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,-1
$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,-2110653
$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,28
$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
$GPS1,103130,6400.660,-1320.752,46,1.7,46,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.7
$GPS2,103702,6400.743,-1320.553,16,1.6,16,-12.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$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,272.4,7792,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.83,0.000,6,0.000,0.000,70,2605,3416
$GC,74,-1.03,-146.6,3.8,-9.5,2,96,11.93,2.35,0.00,0.000,4,0.184,0.059,2130,3858,3418
$GC,322,-1.03,-146.6,46.7,-10.3,13,326,0.00,2.15,0.00,0.000,6,0.000,0.025,2130,2579,3419
$GC,649,-1.03,-146.6,77.0,-9.2,29,653,0.00,2.40,0.00,0.000,4,0.000,0.038,2130,1211,3420
$GC,693,-1.03,-146.6,81.1,-8.1,31,697,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2596,3420
$GC,1014,-1.03,-146.6,107.8,-8.2,47,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$GC,1323,-1.03,-146.6,133.0,-8.1,62,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$GC,1632,-1.03,-146.6,159.1,-8.6,77,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$GC,1941,-1.03,-146.6,187.4,-9.4,92,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$GC,2250,-1.03,-146.6,217.8,-10.2,107,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$GC,2560,-1.03,-146.6,247.5,-9.2,122,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3420
$STATE,2743,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2743,begin apogee
$GC,2751,-0.31,0.0,265.9,11.4,131,2875,0.77,0.00,121.43,0.749,6,0.097,0.000,2288,2297,2817
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2879,1.03,146.6,271.5,0.0,137,3011,1.38,2.58,122.65,0.736,4,0.071,0.041,2581,912,2218
$GC,3266,1.00,198.6,260.5,5.7,154,3318,0.00,2.45,44.12,0.715,6,0.000,0.032,2581,2309,2006
$GC,3648,1.06,253.6,235.1,5.6,173,3703,0.00,2.58,48.12,0.706,4,0.000,0.041,2581,920,1781
$GC,3891,1.11,253.6,217.7,8.3,184,3895,0.00,2.42,0.00,0.000,6,0.000,0.032,2581,2301,1774
$GC,4218,1.17,253.6,192.5,8.3,200,4220,0.15,0.00,0.00,0.000,6,0.047,0.000,2628,2301,1774
$GC,4527,1.12,253.6,158.0,11.8,215,4529,0.12,0.00,0.00,0.000,6,0.092,0.000,2604,2301,1773
$GC,4838,1.12,253.6,122.7,11.2,230,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2301,1773
$GC,5145,1.12,253.6,90.5,10.0,245,5150,0.00,2.47,0.00,0.000,4,0.000,0.042,2604,915,1772
$GC,5190,1.12,253.6,85.8,10.2,247,5194,0.00,2.42,0.00,0.000,6,0.000,0.032,2604,2305,1771
$GC,5511,1.12,253.6,55.6,9.4,263,5515,0.00,2.47,0.00,0.000,4,0.000,0.041,2604,915,1772
$GC,5589,1.12,253.6,47.8,9.0,266,5596,0.00,2.40,0.00,0.000,6,0.000,0.031,2604,2300,1770
$GC,5907,1.12,253.6,20.5,8.6,282,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1771
$STATE,6109,end climb,SURFACE_DEPTH_REACHED
$STATE,6109,begin surface coast
$FINISH,0.7,1.026650
$STATE,6132,end surface coast,CONTROL_FINISHED_OK
$STATE,6132,begin surface
$SM_CCo,6216,0.00,0.000,0,0,1768,257.07
$SM_GC,1.55,11.75,0.00,0.00,0.072,0.000,0.000,68,2605,1768,-10.47,0.14,257.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1757
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,251.4,23.6
$24V_AH,23.8,29.596
$10V_AH,10.1,14.793
$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,26.100,30.100,336.325,0.000,0.000,33.157,42.098,144.692,1.750,0.000,0.000,16.583,567.385,4496.447,367.556,767.505,350.009,0.000,760.949,0.000,749.888,0.000,15.070,0.000
$DEVICE_MAMPS,184.080,59.059,748.592,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,215.591,198.344,301.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12841,293
$CAP_FILE_SIZE,46803,0
$CFSIZE,260165632,248791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070709,122207,6401.483,-1317.987,35,1.9,35,-12.6