version: 66.04
glider: 16
mission: 13
dive: 61
start: 6 15 109 0 42 44
data:
$ID,16
$MISSION,13
$DIVE,61
$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,-2108680.5
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,003737,6156.799,-932.534,37,1.7,43,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.2
$GPS2,004226,6156.793,-932.571,14,1.7,14,-9.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6156.793,-955.534
$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,279.7,20000,-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,-60.97,0.000,2,0.000,0.000,70,2608,3081
$GC,81,-1.03,-146.6,4.3,-6.7,3,105,11.88,2.40,-6.12,0.000,4,0.182,0.081,2132,3854,3418
$GC,357,-1.03,-146.6,50.4,-15.3,15,362,0.00,2.17,0.00,0.000,6,0.000,0.028,2131,2577,3419
$GC,679,-1.03,-146.6,96.6,-13.4,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,988,-1.03,-146.6,133.0,-11.2,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,1298,-1.03,-146.6,165.3,-9.5,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,1607,-1.03,-146.6,189.7,-7.5,76,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,1916,-1.03,-146.6,213.0,-7.6,91,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,2225,-1.03,-146.6,239.6,-9.0,106,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,2534,-1.03,-146.6,269.3,-9.8,121,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,2845,-1.03,-146.6,301.0,-10.6,136,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,3153,-1.03,-146.6,333.9,-10.7,151,3157,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1202,3419
$GC,3204,-1.08,-146.6,339.1,-10.1,153,3208,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2595,3419
$GC,3519,-1.08,-146.6,369.9,-9.3,168,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3419
$GC,3828,-1.08,-146.6,397.6,-8.6,183,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2594,3419
$GC,4138,-1.08,-146.6,425.5,-9.4,198,4143,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1209,3419
$GC,4195,-1.14,-146.6,431.0,-10.0,200,4201,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2605,3419
$GC,4511,-1.14,-146.6,461.0,-9.2,216,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,4820,-1.14,-146.6,486.8,-8.0,231,4824,0.00,2.47,0.00,0.000,4,0.000,0.042,2131,1203,3419
$GC,4872,-1.20,-146.6,491.0,-7.9,233,4877,0.15,2.47,0.00,0.000,6,0.044,0.039,2087,2610,3419
$GC,5194,-1.10,-146.6,525.9,-12.0,249,5196,0.17,0.00,0.00,0.000,6,0.097,0.000,2120,2610,3419
$GC,5502,-1.10,-146.6,558.4,-9.8,264,5506,0.00,2.47,0.00,0.000,4,0.000,0.042,2120,1209,3418
$GC,5546,-1.10,-146.6,562.8,-9.5,266,5550,0.00,2.45,0.00,0.000,6,0.000,0.038,2120,2603,3418
$GC,5867,-1.10,-146.6,594.3,-11.4,282,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2603,3418
$GC,6177,-1.10,-146.6,616.7,-5.2,297,6181,0.00,2.35,0.00,0.000,4,0.000,0.075,2120,3858,3418
$GC,6284,-1.10,-146.6,624.6,-7.3,302,6289,0.00,2.15,0.00,0.000,6,0.000,0.033,2120,2608,3418
$GC,6617,-1.10,-146.6,653.3,-7.2,318,6621,0.00,2.53,0.00,0.000,4,0.000,0.051,2120,1202,3418
$GC,6673,-1.15,-146.6,658.6,-8.9,320,6679,0.00,2.47,0.00,0.000,6,0.000,0.042,2120,2599,3418
$GC,6989,-1.72,-146.6,669.4,-0.0,336,6995,0.60,2.50,0.00,0.000,4,0.060,0.050,1981,1202,3417
$STATE,7082,end dive,NO_VERTICAL_VELOCITY
$STATE,7082,begin apogee
$GC,7091,-0.31,0.0,669.4,0.0,340,7223,1.42,0.00,128.00,0.993,6,0.074,0.000,2291,2304,2817
$STATE,7223,end apogee,CONTROL_FINISHED_OK
$STATE,7223,begin climb
$GC,7226,1.03,146.6,669.3,0.0,347,7364,1.38,2.65,129.40,0.980,4,0.075,0.058,2581,910,2219
$GC,7620,1.00,264.7,668.2,3.5,365,7731,0.00,2.50,105.18,0.976,6,0.000,0.042,2581,2302,1736
$GC,8055,1.00,264.7,629.7,8.3,386,8059,0.00,2.58,0.00,0.000,4,0.000,0.054,2581,905,1727
$GC,8213,1.04,264.7,613.7,8.4,393,8217,0.00,2.50,0.00,0.000,6,0.000,0.041,2581,2301,1724
$GC,8534,1.04,264.7,585.4,7.8,409,8538,0.00,2.65,0.00,0.000,4,0.000,0.071,2581,3702,1724
$GC,8589,1.06,280.3,581.3,7.0,411,8609,0.00,2.47,13.20,0.856,6,0.000,0.035,2581,2307,1674
$GC,8925,1.06,280.3,552.1,8.3,428,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2307,1671
$GC,9234,1.06,280.3,530.7,7.6,443,9239,0.00,2.58,0.00,0.000,4,0.000,0.054,2581,895,1670
$GC,9301,1.06,280.3,525.1,8.2,446,9305,0.00,2.47,0.00,0.000,6,0.000,0.038,2581,2304,1669
$GC,9628,1.06,280.3,494.6,9.8,462,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1669
$GC,9937,1.06,280.3,462.2,10.6,477,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1669
$GC,10247,1.06,280.3,429.3,10.6,492,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1669
$GC,10556,1.06,280.3,397.1,10.5,507,10560,0.00,2.53,0.00,0.000,4,0.000,0.047,2580,893,1669
$GC,10608,1.10,280.3,391.6,10.5,509,10612,0.00,2.47,0.00,0.000,6,0.000,0.036,2580,2302,1669
$GC,10928,1.10,280.3,359.1,9.8,525,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2302,1669
$GC,11238,1.10,280.3,329.4,9.2,540,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2302,1669
$GC,11547,1.10,280.3,302.0,8.9,555,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2302,1669
$GC,11856,1.10,280.3,275.0,8.8,570,11860,0.00,2.53,0.00,0.000,4,0.000,0.046,2581,892,1669
$GC,11900,1.16,280.3,270.9,9.6,572,11905,0.15,2.45,0.00,0.000,6,0.061,0.036,2619,2300,1669
$GC,12221,1.10,280.3,238.0,10.3,588,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2300,1669
$GC,12531,1.04,280.3,205.7,10.7,603,12532,0.17,0.00,0.00,0.000,6,0.098,0.000,2586,2299,1669
$GC,12840,1.04,280.3,174.6,10.2,618,12844,0.00,2.53,0.00,0.000,4,0.000,0.046,2586,887,1669
$GC,12884,1.04,280.3,169.8,10.9,620,12888,0.00,2.47,0.00,0.000,6,0.000,0.036,2587,2302,1669
$GC,13206,1.04,280.3,138.6,9.5,636,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2302,1669
$GC,13514,1.04,280.3,111.8,8.2,651,13519,0.00,2.53,0.00,0.000,4,0.000,0.046,2586,888,1669
$GC,13570,1.04,280.3,107.1,8.2,653,13576,0.00,2.47,0.00,0.000,6,0.000,0.036,2586,2307,1670
$GC,13886,1.04,284.0,83.9,7.4,669,13892,0.00,0.00,4.35,0.432,6,0.000,0.000,2586,2307,1658
$GC,14197,1.04,284.0,57.3,9.4,684,14201,0.00,2.53,0.00,0.000,4,0.000,0.045,2586,893,1658
$GC,14240,1.04,284.0,53.0,8.9,686,14245,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2307,1658
$GC,14562,1.04,284.0,21.3,10.7,702,14567,0.00,2.53,0.00,0.000,4,0.000,0.045,2586,892,1658
$GC,14603,1.09,284.0,17.1,10.8,704,14607,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2309,1658
$STATE,14763,end climb,SURFACE_DEPTH_REACHED
$STATE,14763,begin surface coast
$FINISH,0.6,1.013391
$STATE,14785,end surface coast,CONTROL_FINISHED_OK
$STATE,14785,begin surface
$SM_CCo,14868,0.00,0.000,0,0,1655,284.79
$SM_GC,1.78,12.02,0.00,0.00,0.091,0.000,0.000,68,2605,1655,-10.45,0.14,284.79
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1720
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.6,14.716
$10V_AH,10.1,6.383
$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,27.950,89.100,380.125,0.000,0.000,18.093,30.238,136.000,5.500,0.000,0.000,14.080,1297.735,11428.865,451.394,1584.862,396.550,0.000,1241.937,0.000,1546.559,0.000,38.030,0.000
$DEVICE_MAMPS,181.779,81.302,993.265,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.906,485.725,434.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34866,713
$CAP_FILE_SIZE,101197,0
$CFSIZE,260165632,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150609,045137,6156.791,-937.939,29,1.3,29,-9.7