version: 66.04
glider: 16
mission: 13
dive: 62
start: 6 15 109 4 56 56
data:
$ID,16
$MISSION,13
$DIVE,62
$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,-2108716
$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,27
$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
$GPS1,045137,6156.791,-937.939,29,1.3,29,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.2
$GPS2,045640,6156.768,-937.982,14,5.4,33,-9.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6156.768,-1000.944
$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,-59.60,0.000,6,0.000,0.000,68,2605,3416
$GC,81,-1.03,-146.6,6.2,-10.7,3,103,12.00,2.38,0.00,0.000,4,0.186,0.062,2130,3864,3417
$GC,321,-1.03,-146.6,44.8,-10.2,13,328,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2578,3418
$GC,637,-1.03,-146.6,72.8,-9.0,29,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3418
$GC,948,-1.03,-146.6,101.9,-9.5,44,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,1256,-1.03,-146.6,130.6,-9.2,59,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,1565,-1.03,-146.6,160.2,-9.7,74,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,1874,-1.03,-146.6,192.7,-11.4,89,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,2183,-1.03,-146.6,229.0,-11.8,104,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,2493,-1.03,-146.6,259.8,-9.2,119,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,2802,-1.03,-146.6,290.2,-10.0,134,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,3111,-1.03,-146.6,321.4,-9.9,149,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,3421,-1.03,-146.6,350.5,-9.2,164,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2578,3419
$GC,3730,-1.03,-146.6,377.9,-8.7,179,3734,0.00,2.42,0.00,0.000,4,0.000,0.043,2131,1206,3419
$GC,3770,-1.08,-146.6,381.3,-8.4,181,3775,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2597,3419
$GC,4097,-1.08,-146.6,407.5,-7.6,197,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,4407,-1.08,-146.6,431.1,-7.8,212,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,4716,-1.08,-146.6,454.0,-7.3,227,4720,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1209,3418
$GC,4760,-1.14,-146.6,457.3,-7.7,229,4764,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3418
$GC,5081,-1.14,-146.6,484.0,-9.1,245,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5390,-1.14,-146.6,513.6,-9.4,260,5395,0.00,2.45,0.00,0.000,4,0.000,0.042,2131,1209,3418
$GC,5453,-1.19,-146.6,519.5,-9.9,263,5458,0.15,2.45,0.00,0.000,6,0.045,0.039,2086,2600,3418
$GC,5782,-1.09,-146.6,558.8,-12.3,279,5784,0.17,0.00,0.00,0.000,6,0.094,0.000,2119,2600,3418
$GC,6089,-1.09,-146.6,589.0,-8.8,294,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2600,3418
$GC,6398,-1.09,-146.6,610.8,-7.0,309,6402,0.00,2.35,0.00,0.000,4,0.000,0.074,2119,3858,3417
$GC,6471,-1.09,-146.6,617.0,-9.4,312,6475,0.00,2.15,0.00,0.000,6,0.000,0.031,2119,2602,3417
$GC,6792,-1.09,-146.6,646.6,-9.8,328,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2600,3417
$GC,7101,-1.09,-146.6,678.6,-10.9,343,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2600,3417
$GC,7411,-1.09,-146.6,707.8,-9.6,358,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2600,3417
$STATE,7697,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7697,begin apogee
$GC,7704,-0.31,0.0,734.4,8.9,372,7840,0.85,0.00,129.05,1.039,6,0.101,0.000,2291,2299,2817
$STATE,7840,end apogee,CONTROL_FINISHED_OK
$STATE,7840,begin climb
$GC,7843,1.03,146.6,737.1,0.0,379,7982,1.35,2.75,130.65,1.022,4,0.072,0.071,2580,3708,2218
$GC,8046,0.87,146.6,722.3,7.6,387,8053,0.15,2.53,0.00,0.000,6,0.100,0.038,2553,2310,2214
$GC,8363,0.86,199.0,704.0,5.7,403,8412,0.00,0.00,46.92,0.989,6,0.000,0.000,2552,2310,2005
$GC,8714,0.90,243.0,684.4,6.0,420,8760,0.00,2.70,40.80,0.978,4,0.000,0.071,2552,3702,1826
$GC,8795,0.93,270.9,679.7,6.5,424,8829,0.00,2.53,26.83,0.954,6,0.000,0.037,2552,2299,1712
$GC,9147,0.99,270.9,644.4,14.1,441,9149,0.10,0.00,0.00,0.000,6,0.058,0.000,2581,2298,1704
$GC,9456,0.99,270.9,599.4,12.7,456,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2298,1703
$GC,9765,0.99,270.9,569.1,9.8,471,9769,0.00,2.65,0.00,0.000,4,0.000,0.065,2581,3702,1702
$GC,9814,0.99,270.9,563.7,11.2,473,9819,0.00,2.47,0.00,0.000,6,0.000,0.033,2582,2295,1702
$GC,10130,0.99,270.9,533.9,9.5,488,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2295,1702
$GC,10439,0.99,270.9,505.6,9.0,503,10440,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2294,1701
$GC,10748,0.99,270.9,477.5,8.9,518,10752,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,896,1701
$GC,10794,0.99,270.9,473.0,9.8,520,10798,0.00,2.47,0.00,0.000,6,0.000,0.037,2581,2311,1700
$GC,11121,0.99,270.9,442.9,9.5,536,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2311,1700
$GC,11430,0.99,270.9,413.0,9.9,551,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2311,1700
$GC,11739,0.99,270.9,383.2,9.7,566,11743,0.00,2.55,0.00,0.000,4,0.000,0.047,2581,895,1700
$GC,11777,0.99,270.9,379.2,10.8,567,11783,0.00,2.47,0.00,0.000,6,0.000,0.036,2582,2306,1700
$GC,12093,0.99,270.9,349.8,9.1,583,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2307,1700
$GC,12402,0.99,270.9,321.2,9.3,598,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2306,1700
$GC,12712,0.99,270.9,292.5,9.4,613,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2306,1700
$GC,13020,0.99,270.9,262.4,9.8,628,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2307,1701
$GC,13330,0.99,270.9,231.5,9.8,643,13334,0.00,2.53,0.00,0.000,4,0.000,0.046,2581,895,1701
$GC,13375,0.99,270.9,226.8,10.8,645,13380,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2301,1701
$GC,13702,0.99,270.9,194.7,9.7,661,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2301,1701
$GC,14012,0.99,270.9,164.3,10.2,676,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2301,1701
$GC,14323,0.99,270.9,130.8,11.0,691,14327,0.00,2.53,0.00,0.000,4,0.000,0.045,2582,891,1701
$GC,14363,0.99,270.9,126.1,11.1,693,14367,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2308,1701
$GC,14690,0.99,270.9,91.0,10.3,709,14694,0.00,2.53,0.00,0.000,4,0.000,0.045,2582,895,1701
$GC,14740,0.99,270.9,85.7,10.0,711,14744,0.00,2.45,0.00,0.000,6,0.000,0.035,2581,2301,1701
$GC,15057,0.99,270.9,56.5,9.0,726,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1701
$GC,15365,0.99,270.9,25.4,10.2,741,15369,0.00,2.53,0.00,0.000,4,0.000,0.045,2581,889,1701
$GC,15437,0.99,270.9,18.0,10.3,744,15441,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2306,1701
$STATE,15606,end climb,SURFACE_DEPTH_REACHED
$STATE,15606,begin surface coast
$FINISH,1.1,1.026696
$STATE,15627,end surface coast,CONTROL_FINISHED_OK
$STATE,15628,begin surface
$SM_CCo,15710,0.00,0.000,0,0,1698,274.49
$SM_GC,1.88,11.85,0.00,0.00,0.084,0.000,0.000,73,2599,1698,-10.46,-0.03,274.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1722
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.4,67.5
$24V_AH,23.6,14.833
$10V_AH,10.1,6.451
$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,26.625,70.325,374.250,0.000,0.000,17.993,27.522,130.787,6.000,0.000,0.000,34.728,1318.720,12337.588,438.319,1532.554,385.914,0.000,1191.177,0.000,1474.701,0.000,42.836,0.000
$DEVICE_MAMPS,186.381,73.632,1038.518,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.910,512.293,451.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37943,753
$CAP_FILE_SIZE,97616,0
$CFSIZE,260165632,255049728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150609,092000,6156.235,-948.054,38,1.2,38,-9.8