version: 66.04
glider: 16
mission: 13
dive: 122
start: 6 28 109 6 3 42
data:
$ID,16
$MISSION,13
$DIVE,122
$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,-2109774.5
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,055836,6358.831,-1319.117,39,0.9,39,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.9
$GPS2,060325,6358.826,-1318.994,12,1.4,12,-12.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5001.000
$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,296.3,9196,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.05,0.000,2,0.000,0.000,70,2598,3214
$GC,84,-1.03,-146.6,5.0,-8.2,3,106,11.80,2.33,-3.55,0.000,4,0.179,0.075,2130,3861,3415
$GC,269,-0.99,-146.6,30.7,-10.6,11,273,0.00,2.17,0.00,0.000,6,0.000,0.026,2130,2579,3416
$GC,597,-0.99,-146.6,70.8,-12.3,27,601,0.00,2.40,0.00,0.000,4,0.000,0.038,2131,1209,3417
$GC,660,-1.03,-146.6,78.4,-12.0,30,664,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2603,3417
$GC,987,-1.03,-146.6,109.2,-7.0,46,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3418
$GC,1296,-1.03,-146.6,130.9,-7.7,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3418
$GC,1605,-1.03,-146.6,159.4,-10.0,76,1610,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1210,3418
$GC,1661,-1.03,-146.6,165.1,-9.5,78,1667,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2605,3418
$GC,1977,-1.03,-146.6,200.7,-12.4,94,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,2286,-1.03,-146.6,240.2,-12.5,109,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,2596,-1.03,-146.6,278.6,-12.6,124,2600,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1211,3418
$GC,2646,-1.07,-146.6,285.2,-12.5,126,2650,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2606,3418
$GC,2962,-1.07,-146.6,321.1,-10.2,141,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3418
$GC,3271,-1.07,-146.6,352.5,-9.8,156,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3418
$GC,3580,-1.07,-146.6,384.6,-10.9,171,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3418
$GC,3890,-1.07,-146.6,418.9,-11.2,186,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3418
$GC,4200,-1.07,-146.6,451.4,-8.7,201,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3417
$GC,4508,-1.07,-146.6,477.3,-8.7,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3417
$GC,4818,-1.07,-146.6,501.7,-7.9,231,4822,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1211,3417
$GC,4874,-1.13,-146.6,506.2,-7.2,233,4879,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2603,3417
$GC,5191,-1.13,-146.6,525.7,-6.7,248,5195,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1206,3416
$GC,5264,-1.19,-146.6,531.3,-6.8,251,5269,0.15,2.45,0.00,0.000,6,0.044,0.039,2086,2598,3416
$GC,5580,-1.07,-146.6,561.7,-10.7,266,5582,0.20,0.00,0.00,0.000,6,0.101,0.000,2124,2598,3416
$GC,5890,-1.07,-146.6,590.1,-7.2,281,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2598,3415
$GC,6198,-1.07,-146.6,607.8,-9.3,296,6203,0.00,2.45,0.00,0.000,4,0.000,0.042,2124,1212,3415
$GC,6277,-1.12,-146.6,615.1,-9.1,299,6283,0.00,2.47,0.00,0.000,6,0.000,0.044,2124,2597,3415
$GC,6593,-1.17,-146.6,646.5,-8.6,315,6597,0.00,2.40,0.00,0.000,4,0.000,0.077,2124,3867,3414
$GC,6790,-1.17,-146.6,663.7,-5.1,324,6794,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2610,3413
$STATE,6846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6846,begin apogee
$GC,6853,-0.31,0.0,667.4,5.1,327,6988,0.82,0.00,128.57,1.027,6,0.107,0.000,2288,2298,2816
$STATE,6989,end apogee,CONTROL_FINISHED_OK
$STATE,6989,begin climb
$GC,6992,1.03,146.6,675.2,0.0,334,7132,1.40,2.62,130.00,1.017,4,0.074,0.056,2580,904,2218
$GC,7216,0.93,146.6,669.4,11.4,344,7223,0.00,2.53,0.00,0.000,6,0.000,0.039,2580,2312,2214
$GC,7532,0.70,146.6,634.5,13.4,360,7537,0.32,2.65,0.00,0.000,4,0.105,0.071,2514,3702,2210
$GC,7723,0.70,146.6,614.1,9.3,368,7729,0.00,2.47,0.00,0.000,6,0.000,0.033,2514,2302,2209
$GC,8038,0.73,179.1,603.4,6.4,384,8069,0.00,0.00,28.80,0.960,6,0.000,0.000,2514,2301,2086
$GC,8368,0.83,202.7,575.7,6.7,400,8398,0.12,2.67,22.10,0.934,4,0.057,0.053,2547,899,1988
$GC,8456,0.83,202.7,566.8,10.1,404,8460,0.00,2.47,0.00,0.000,6,0.000,0.039,2547,2300,1985
$GC,8783,0.87,202.7,535.7,10.1,420,8787,0.00,2.58,0.00,0.000,4,0.000,0.052,2547,894,1983
$GC,8845,0.94,266.1,532.1,5.3,423,8911,0.00,2.50,58.72,0.951,6,0.000,0.038,2547,2302,1731
$GC,9239,1.04,266.1,506.2,10.9,442,9244,0.17,2.65,0.00,0.000,4,0.068,0.068,2590,3702,1723
$GC,9295,0.96,266.1,498.3,14.8,444,9302,0.12,2.47,0.00,0.000,6,0.118,0.032,2570,2302,1722
$GC,9611,0.96,266.1,459.0,12.9,460,9615,0.00,2.58,0.00,0.000,4,0.000,0.052,2569,890,1720
$GC,9706,0.96,266.1,446.3,14.2,464,9710,0.00,2.50,0.00,0.000,6,0.000,0.037,2569,2305,1718
$GC,10021,0.96,266.1,408.5,10.8,479,10025,0.00,2.58,0.00,0.000,4,0.000,0.048,2570,888,1719
$GC,10076,0.96,266.1,403.0,9.6,481,10082,0.00,2.50,0.00,0.000,6,0.000,0.036,2569,2305,1717
$GC,10392,0.96,266.1,374.3,9.4,497,10396,0.00,2.60,0.00,0.000,4,0.000,0.064,2569,3701,1717
$GC,10436,0.96,266.1,369.5,10.3,499,10440,0.00,2.45,0.00,0.000,6,0.000,0.031,2569,2297,1717
$GC,10762,0.96,266.1,337.2,9.6,515,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2295,1717
$GC,11072,1.00,266.1,310.5,8.5,530,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2295,1717
$GC,11381,1.00,266.1,285.3,8.7,545,11385,0.00,2.53,0.00,0.000,4,0.000,0.048,2570,894,1717
$GC,11443,1.05,266.1,279.2,10.0,548,11447,0.00,2.47,0.00,0.000,6,0.000,0.035,2569,2308,1717
$GC,11769,1.05,266.1,244.5,11.7,564,11774,0.00,2.58,0.00,0.000,4,0.000,0.060,2569,3701,1717
$GC,11819,1.05,266.1,237.8,13.0,566,11823,0.00,2.42,0.00,0.000,6,0.000,0.029,2569,2297,1717
$GC,12141,1.10,266.1,201.7,10.5,582,12143,0.15,0.00,0.00,0.000,6,0.051,0.000,2611,2295,1717
$GC,12450,1.02,266.1,166.6,10.9,597,12455,0.15,2.58,0.00,0.000,4,0.093,0.057,2583,3700,1717
$GC,12494,1.02,266.1,161.4,10.6,599,12499,0.00,2.42,0.00,0.000,6,0.000,0.028,2583,2297,1718
$GC,12816,1.02,266.1,128.7,10.2,615,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2296,1718
$GC,13125,1.02,266.1,101.5,7.6,630,13129,0.00,2.50,0.00,0.000,4,0.000,0.048,2583,902,1718
$GC,13158,1.02,266.1,98.6,8.4,631,13165,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2301,1718
$GC,13476,1.02,266.1,68.0,9.8,647,13480,0.00,2.58,0.00,0.000,4,0.000,0.058,2583,3704,1719
$GC,13548,1.02,266.1,60.0,12.3,650,13552,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,2299,1719
$GC,13864,1.02,266.1,29.4,9.8,665,13868,0.00,2.50,0.00,0.000,4,0.000,0.046,2582,899,1719
$GC,13949,1.07,266.1,21.8,7.7,669,13953,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2301,1719
$STATE,14178,end climb,SURFACE_DEPTH_REACHED
$STATE,14178,begin surface coast
$FINISH,0.7,1.003763
$STATE,14198,end surface coast,CONTROL_FINISHED_OK
$STATE,14198,begin surface
$SM_CCo,14281,0.00,0.000,0,0,1716,270.08
$SM_GC,1.64,11.82,0.00,0.00,0.082,0.000,0.000,71,2609,1716,-10.47,0.25,270.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1737
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,627.2,49.8
$24V_AH,23.6,22.787
$10V_AH,10.1,11.239
$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,27.250,110.175,368.200,0.000,0.000,17.984,27.596,130.903,5.250,0.000,0.000,12.948,1272.674,10835.872,472.107,1579.293,409.866,0.000,1264.528,0.000,1541.380,0.000,36.615,0.000
$DEVICE_MAMPS,179.478,77.467,1027.013,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.861,463.619,438.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34827,681
$CAP_FILE_SIZE,105441,0
$CFSIZE,260165632,251453440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280609,100254,6358.898,-1326.677,35,1.7,35,-12.7