version: 66.04
glider: 16
mission: 13
dive: 59
start: 6 14 109 16 59 20
data:
$ID,16
$MISSION,13
$DIVE,59
$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,-2108648.8
$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
$GPS1,165430,6157.532,-922.323,37,1.0,42,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.2
$GPS2,165902,6157.495,-922.346,12,1.3,12,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6157.495,-945.317
$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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.95,0.000,6,0.000,0.000,67,2603,3417
$GC,74,-1.03,-146.6,3.6,-8.3,2,96,12.07,2.38,0.00,0.000,4,0.188,0.061,2132,3863,3418
$GC,348,-1.03,-146.6,49.1,-11.4,14,352,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2585,3418
$GC,670,-1.03,-146.6,80.5,-9.1,30,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3419
$GC,979,-1.03,-146.6,107.1,-8.3,45,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3419
$GC,1290,-1.03,-146.6,131.8,-8.3,60,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,1597,-1.03,-146.6,159.0,-9.1,75,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,1906,-1.03,-146.6,187.4,-9.1,90,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,2216,-1.03,-146.6,214.8,-8.5,105,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,2525,-1.03,-146.6,241.8,-8.8,120,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,2834,-1.03,-146.6,268.7,-8.8,135,2838,0.00,2.42,0.00,0.000,4,0.000,0.042,2132,1209,3420
$GC,2875,-1.08,-146.6,272.0,-8.0,137,2879,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2602,3419
$GC,3201,-1.08,-146.6,300.9,-8.8,153,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,3510,-1.08,-146.6,328.2,-8.7,168,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3419
$GC,3819,-1.08,-146.6,355.3,-8.9,183,3823,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1201,3419
$GC,3853,-1.13,-146.6,358.5,-9.5,184,3859,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2609,3419
$GC,4168,-1.13,-146.6,386.9,-9.1,200,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,4477,-1.13,-146.6,415.4,-9.2,215,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3419
$GC,4787,-1.13,-146.6,444.8,-9.6,230,4790,0.00,2.47,0.00,0.000,4,0.000,0.042,2131,1205,3419
$GC,4848,-1.19,-146.6,450.8,-9.5,232,4855,0.15,2.45,0.00,0.000,6,0.045,0.039,2087,2600,3419
$GC,5164,-1.08,-146.6,488.5,-11.9,248,5166,0.17,0.00,0.00,0.000,6,0.096,0.000,2120,2601,3419
$GC,5473,-1.08,-146.6,517.0,-8.7,263,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2601,3418
$GC,5783,-1.08,-146.6,543.1,-8.3,278,5787,0.00,2.45,0.00,0.000,4,0.000,0.042,2120,1209,3418
$GC,5832,-1.08,-146.6,547.6,-8.5,280,5837,0.00,2.45,0.00,0.000,6,0.000,0.039,2120,2602,3418
$STATE,6146,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6146,begin apogee
$GC,6153,-0.31,0.0,573.7,9.0,295,6283,0.85,0.00,126.20,0.921,6,0.102,0.000,2291,2301,2817
$STATE,6283,end apogee,CONTROL_FINISHED_OK
$STATE,6283,begin climb
$GC,6286,1.03,146.6,580.0,0.0,301,6424,1.35,2.60,127.97,0.910,4,0.069,0.045,2582,908,2218
$GC,6449,0.98,210.9,580.0,5.3,308,6511,0.00,2.50,56.65,0.892,6,0.000,0.037,2582,2308,1957
$GC,6825,0.98,210.9,543.9,12.1,326,6830,0.00,2.62,0.00,0.000,4,0.000,0.066,2582,3704,1950
$GC,6893,0.92,210.9,534.5,13.2,329,6898,0.12,2.45,0.00,0.000,6,0.094,0.032,2558,2312,1950
$GC,7214,0.92,210.9,505.2,7.6,345,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2312,1949
$GC,7523,0.95,238.6,484.9,6.6,360,7550,0.00,0.00,25.17,0.825,6,0.000,0.000,2560,2312,1844
$GC,7852,0.95,238.6,459.9,7.6,376,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2312,1840
$GC,8162,1.00,284.0,440.9,5.9,391,8206,0.00,0.00,42.00,0.820,6,0.000,0.000,2558,2312,1659
$GC,8511,1.07,287.3,417.6,7.4,408,8513,0.15,0.00,0.00,0.000,6,0.047,0.000,2600,2312,1653
$GC,8820,1.07,287.3,384.5,11.2,423,8824,0.00,2.55,0.00,0.000,4,0.000,0.051,2600,900,1652
$GC,8859,1.07,287.3,379.8,12.4,425,8864,0.00,2.47,0.00,0.000,6,0.000,0.036,2602,2307,1649
$GC,9186,1.07,287.3,339.7,12.5,441,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2307,1649
$GC,9495,1.07,287.3,300.4,12.7,456,9499,0.00,2.53,0.00,0.000,4,0.000,0.047,2600,898,1649
$GC,9534,1.07,287.3,295.1,13.2,458,9539,0.00,2.47,0.00,0.000,6,0.000,0.036,2601,2307,1648
$GC,9861,1.07,287.3,255.9,11.6,474,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2308,1649
$GC,10170,1.07,287.3,222.5,10.4,489,10175,0.00,2.53,0.00,0.000,4,0.000,0.046,2600,897,1648
$GC,10215,1.07,287.3,217.8,10.9,491,10219,0.00,2.47,0.00,0.000,6,0.000,0.035,2600,2311,1647
$GC,10535,1.07,287.3,187.4,9.0,507,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2311,1648
$GC,10845,1.08,296.2,164.4,7.2,522,10861,0.00,2.55,10.68,0.595,4,0.000,0.045,2601,898,1607
$GC,10900,1.08,296.2,160.1,8.0,523,10906,0.00,2.47,0.00,0.000,6,0.000,0.035,2600,2303,1606
$GC,11216,1.08,296.2,133.1,8.7,539,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2303,1606
$GC,11525,1.08,296.2,103.8,9.5,554,11530,0.00,2.53,0.00,0.000,4,0.000,0.046,2601,891,1606
$GC,11575,1.08,296.2,98.7,9.7,556,11579,0.00,2.45,0.00,0.000,6,0.000,0.035,2600,2300,1605
$GC,11897,1.08,296.2,69.1,8.5,572,11901,0.00,2.50,0.00,0.000,4,0.000,0.045,2601,898,1605
$GC,11941,1.08,296.2,65.1,9.0,574,11945,0.00,2.45,0.00,0.000,6,0.000,0.035,2600,2301,1605
$GC,12262,1.08,296.2,35.5,9.2,590,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2301,1605
$GC,12571,1.08,296.2,8.1,9.9,605,12575,0.00,2.50,0.00,0.000,4,0.000,0.044,2601,897,1605
$STATE,12618,end climb,SURFACE_DEPTH_REACHED
$STATE,12618,begin surface coast
$FINISH,0.7,1.026711
$STATE,12641,end surface coast,CONTROL_FINISHED_OK
$STATE,12642,begin surface
$SM_CCo,12728,0.00,0.000,0,0,1601,298.04
$SM_GC,1.46,12.10,0.00,0.00,0.091,0.000,0.000,62,2601,1601,-10.46,0.03,298.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.0,56.8
$24V_AH,23.7,14.477
$10V_AH,10.1,6.250
$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,26.975,70.400,388.675,0.000,0.000,18.024,31.278,121.506,4.500,0.000,0.000,12.780,1091.633,9835.244,453.079,1269.169,355.829,0.000,1090.540,0.000,1242.944,0.000,33.086,0.000
$DEVICE_MAMPS,187.915,65.962,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.367,413.494,413.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28594,608
$CAP_FILE_SIZE,83770,0
$CFSIZE,260165632,255217664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140609,203236,6156.199,-927.524,32,1.1,32,-9.6