version: 66.04
glider: 16
mission: 13
dive: 66
start: 6 16 109 1 4 4
data:
$ID,16
$MISSION,13
$DIVE,66
$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,-2108782.5
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,005407,6201.203,-1020.346,27,1.8,27,-10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.2
$GPS2,010344,6201.374,-1020.437,15,1.6,15,-10.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6201.374,-1043.457
$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,280.1,20000,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-76.00,0.000,6,0.000,0.000,71,2608,3417
$GC,100,-1.03,-146.6,7.5,-9.7,4,121,11.95,2.58,0.00,0.000,4,0.184,0.039,2132,1183,3417
$GC,275,-1.03,-146.6,42.3,-13.1,11,281,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2592,3418
$GC,592,-1.03,-146.6,90.9,-15.9,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3418
$GC,900,-1.03,-146.6,106.3,-2.5,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3418
$GC,1209,-1.03,-146.6,122.7,-7.0,57,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2592,3418
$GC,1518,-1.03,-146.6,144.9,-7.9,72,1523,0.00,2.50,0.00,0.000,4,0.000,0.041,2131,1183,3418
$GC,1569,-1.07,-146.6,149.3,-8.3,74,1573,0.00,2.50,0.00,0.000,6,0.000,0.038,2132,2599,3418
$GC,1887,-1.07,-146.6,176.6,-9.0,89,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3418
$GC,2193,-1.07,-146.6,203.8,-8.6,104,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,2503,-1.07,-146.6,230.4,-8.7,119,2507,0.00,2.50,0.00,0.000,4,0.000,0.041,2132,1186,3418
$GC,2547,-1.12,-146.6,234.1,-7.8,121,2551,0.00,2.50,0.00,0.000,6,0.000,0.038,2132,2603,3418
$GC,2867,-1.12,-146.6,261.5,-8.7,137,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2604,3417
$GC,3177,-1.12,-146.6,289.3,-8.9,152,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,3486,-1.12,-146.6,317.7,-9.4,167,3490,0.00,2.53,0.00,0.000,4,0.000,0.041,2132,1178,3417
$GC,3564,-1.17,-146.6,325.0,-9.0,170,3572,0.12,2.50,0.00,0.000,6,0.048,0.039,2094,2600,3418
$GC,3881,-1.07,-146.6,356.2,-9.5,186,3882,0.17,0.00,0.00,0.000,6,0.096,0.000,2128,2601,3417
$GC,4189,-1.07,-146.6,379.6,-7.0,201,4193,0.00,2.50,0.00,0.000,4,0.000,0.041,2127,1187,3417
$GC,4229,-1.12,-146.6,382.7,-7.0,202,4235,0.00,2.50,0.00,0.000,6,0.000,0.038,2127,2606,3417
$GC,4545,-1.12,-146.6,407.8,-8.4,218,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2605,3417
$GC,4854,-1.12,-146.6,433.9,-8.8,233,4858,0.00,2.53,0.00,0.000,4,0.000,0.043,2127,1180,3417
$GC,4893,-1.16,-146.6,437.3,-9.1,235,4898,0.00,2.50,0.00,0.000,6,0.000,0.039,2127,2599,3417
$GC,5220,-1.16,-146.6,466.9,-9.3,251,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3417
$GC,5529,-1.16,-146.6,494.4,-8.4,266,5533,0.00,2.50,0.00,0.000,4,0.000,0.041,2127,1184,3417
$GC,5592,-1.16,-146.6,499.8,-8.7,269,5597,0.00,2.50,0.00,0.000,6,0.000,0.039,2127,2600,3417
$GC,5924,-1.16,-146.6,528.9,-8.7,285,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3416
$GC,6233,-1.16,-146.6,556.6,-9.0,300,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3417
$GC,6543,-1.16,-146.6,581.2,-7.2,315,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3416
$GC,6852,-1.16,-146.6,603.0,-7.3,330,6856,0.00,2.50,0.00,0.000,4,0.000,0.041,2127,1184,3416
$GC,6914,-1.16,-146.6,607.9,-7.8,333,6918,0.00,2.50,0.00,0.000,6,0.000,0.039,2127,2604,3416
$GC,7241,-1.16,-146.6,631.8,-7.0,349,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2604,3416
$GC,7552,-1.16,-146.6,650.6,-5.9,364,7556,0.00,2.50,0.00,0.000,4,0.000,0.042,2127,1187,3416
$GC,7615,-1.21,-146.6,655.0,-6.4,367,7620,0.15,2.50,0.00,0.000,6,0.048,0.040,2084,2606,3416
$GC,7942,-1.11,-146.6,695.0,-16.2,383,7946,0.17,2.35,0.00,0.000,4,0.098,0.074,2116,3858,3417
$GC,7991,-1.11,-146.6,703.7,-17.3,385,7995,0.00,2.17,0.00,0.000,6,0.000,0.031,2116,2586,3416
$GC,8313,-1.11,-146.6,754.9,-5.4,401,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2583,3416
$GC,8622,-1.11,-146.6,766.1,-4.3,416,8626,0.00,2.47,0.00,0.000,4,0.000,0.047,2117,1196,3416
$GC,8708,-1.11,-146.6,769.2,-3.2,420,8712,0.00,2.50,0.00,0.000,6,0.000,0.044,2116,2602,3416
$GC,9034,-1.11,-146.6,781.1,-5.3,436,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2602,3416
$GC,9343,-1.11,-146.6,814.8,-13.1,451,9347,0.00,2.50,0.00,0.000,4,0.000,0.045,2116,1193,3415
$GC,9411,-1.11,-146.6,823.6,-15.3,454,9416,0.00,2.50,0.00,0.000,6,0.000,0.044,2116,2599,3415
$GC,9738,-1.11,-146.6,843.0,-5.2,470,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2600,3415
$GC,10048,-1.02,-146.6,857.8,-5.1,485,10052,0.00,2.53,0.00,0.000,4,0.000,0.051,2117,1199,3414
$GC,10110,-1.10,-146.6,864.7,-8.8,488,10115,0.00,2.53,0.00,0.000,6,0.000,0.052,2116,2602,3414
$GC,10437,-1.64,-146.6,873.6,-0.0,504,10443,0.50,2.53,0.00,0.000,4,0.056,0.051,1999,1203,3413
$GC,10680,-2.05,-146.6,873.9,0.4,515,10685,0.40,2.55,0.00,0.000,6,0.067,0.056,1910,2600,3411
$STATE,10715,end dive,NO_VERTICAL_VELOCITY
$STATE,10715,begin apogee
$GC,10722,-0.31,0.0,874.0,0.0,517,10858,1.85,0.00,130.10,1.139,6,0.093,0.000,2292,2303,2817
$STATE,10859,end apogee,CONTROL_FINISHED_OK
$STATE,10859,begin climb
$GC,10862,1.03,146.6,874.5,0.0,524,11005,1.45,2.67,133.12,1.124,4,0.098,0.055,2581,907,2217
$GC,11190,0.75,146.6,857.6,8.8,539,11196,0.30,2.53,0.00,0.000,6,0.100,0.046,2524,2306,2210
$GC,11506,0.75,146.6,849.4,10.4,554,11510,0.00,2.60,0.00,0.000,4,0.000,0.058,2524,898,2208
$GC,11765,0.87,254.6,824.4,3.8,565,11874,0.12,2.53,98.15,1.099,6,0.058,0.044,2556,2302,1778
$GC,12183,1.08,445.3,767.4,1.0,586,12360,0.17,0.00,173.25,1.067,6,0.052,0.000,2605,2302,1001
$GC,12679,1.13,445.3,726.8,14.2,610,12683,0.00,2.58,0.00,0.000,4,0.000,0.053,2605,902,989
$GC,12723,1.22,445.3,720.1,13.9,612,12728,0.00,2.50,0.00,0.000,6,0.000,0.039,2605,2303,989
$GC,13044,1.28,445.3,676.1,13.3,628,13049,0.15,2.58,0.00,0.000,4,0.051,0.051,2649,892,988
$GC,13111,1.28,445.3,665.9,14.4,631,13115,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2301,988
$GC,13432,1.23,445.3,615.5,15.7,647,13437,0.10,2.55,0.00,0.000,4,0.100,0.049,2629,900,987
$GC,13482,1.23,445.3,608.2,13.1,649,13486,0.00,2.47,0.00,0.000,6,0.000,0.038,2629,2308,987
$GC,13798,1.23,445.3,565.3,13.8,664,13802,0.00,2.55,0.00,0.000,4,0.000,0.049,2629,898,987
$GC,13839,1.23,445.3,559.7,14.2,666,13843,0.00,2.47,0.00,0.000,6,0.000,0.037,2629,2302,987
$GC,14165,1.23,445.3,515.1,13.4,682,14169,0.00,2.55,0.00,0.000,4,0.000,0.048,2629,896,987
$GC,14204,1.23,445.3,509.9,13.8,684,14208,0.00,2.47,0.00,0.000,6,0.000,0.037,2629,2299,987
$GC,14531,1.23,445.3,465.5,14.0,700,14535,0.00,2.53,0.00,0.000,4,0.000,0.048,2629,898,987
$GC,14575,1.23,445.3,458.9,14.3,702,14579,0.00,2.47,0.00,0.000,6,0.000,0.036,2629,2302,987
$GC,14896,1.23,445.3,414.5,13.4,718,14900,0.00,2.55,0.00,0.000,4,0.000,0.048,2629,892,987
$GC,14935,1.23,445.3,409.1,13.3,720,14939,0.00,2.47,0.00,0.000,6,0.000,0.036,2629,2300,987
$GC,15261,1.23,445.3,366.6,12.7,736,15266,0.00,2.53,0.00,0.000,4,0.000,0.048,2629,897,987
$GC,15306,1.28,445.3,360.5,13.8,738,15311,0.00,2.47,0.00,0.000,6,0.000,0.036,2629,2304,987
$GC,15627,1.28,445.3,316.4,13.0,754,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2304,986
$GC,15937,1.28,445.3,275.2,13.1,769,15941,0.00,2.53,0.00,0.000,4,0.000,0.047,2629,895,987
$GC,15993,1.32,445.3,267.1,13.2,771,15997,0.00,2.47,0.00,0.000,6,0.000,0.036,2629,2303,987
$GC,16309,1.32,445.3,222.4,15.2,786,16313,0.00,2.53,0.00,0.000,4,0.000,0.048,2629,899,987
$GC,16365,1.37,445.3,213.8,15.8,788,16371,0.12,2.47,0.00,0.000,6,0.048,0.036,2669,2309,987
$GC,16681,1.30,445.3,156.6,17.5,804,16686,0.12,2.55,0.00,0.000,4,0.091,0.048,2644,891,987
$GC,16736,1.30,445.3,147.0,16.4,806,16743,0.00,2.47,0.00,0.000,6,0.000,0.037,2645,2307,987
$GC,17052,1.30,445.3,97.2,15.2,822,17056,0.00,2.53,0.00,0.000,4,0.000,0.047,2645,899,987
$GC,17115,1.30,445.3,87.6,14.7,825,17119,0.00,2.45,0.00,0.000,6,0.000,0.036,2644,2299,987
$GC,17442,1.30,445.3,43.0,12.2,841,17446,0.00,2.53,0.00,0.000,4,0.000,0.047,2644,894,988
$GC,17491,1.30,445.3,37.2,11.0,843,17495,0.00,2.47,0.00,0.000,6,0.000,0.035,2644,2307,987
$STATE,17804,end climb,SURFACE_DEPTH_REACHED
$STATE,17805,begin surface coast
$FINISH,0.7,1.026168
$STATE,17826,end surface coast,CONTROL_FINISHED_OK
$STATE,17826,begin surface
$SM_CCo,17910,0.00,0.000,0,0,985,449.39
$SM_GC,1.47,12.15,0.00,0.00,0.083,0.000,0.000,75,2610,985,-10.46,0.28,449.39
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1719
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.2,89.6
$24V_AH,23.5,15.458
$10V_AH,10.1,6.771
$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,30.025,146.300,534.625,0.000,0.000,51.167,77.785,262.209,7.000,0.000,0.000,15.214,1587.787,13608.486,627.085,1996.366,667.812,0.000,1649.723,0.000,1938.453,0.000,48.375,0.000
$DEVICE_MAMPS,184.080,74.399,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.439,583.625,473.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44226,859
$CAP_FILE_SIZE,137820,0
$CFSIZE,260165632,254775296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160609,060337,6202.699,-1030.402,27,1.3,27,-10.2