version: 66.04
glider: 16
mission: 13
dive: 142
start: 7 1 109 23 2 9
data:
$ID,16
$MISSION,13
$DIVE,142
$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,-2110112.5
$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,34
$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
$GPS1,225625,6352.496,-1339.313,42,1.0,42,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-57.9
$GPS2,230149,6352.502,-1339.280,10,1.0,15,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6352.502,-1403.805
$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,282.8,20000,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.85,0.000,2,0.000,0.000,73,2608,3260
$GC,102,-1.03,-146.6,5.3,-6.2,4,125,12.12,2.55,-2.60,0.000,4,0.192,0.051,2130,1178,3417
$GC,159,-1.03,-146.6,20.6,-11.7,6,163,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2591,3417
$GC,476,-1.03,-146.6,52.1,-9.7,21,480,0.00,2.35,0.00,0.000,4,0.000,0.065,2130,3860,3417
$GC,543,-0.97,-146.6,59.0,-9.8,24,547,0.00,2.17,0.00,0.000,6,0.000,0.026,2130,2572,3417
$GC,864,-0.97,-146.6,93.4,-10.2,40,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2570,3418
$GC,1173,-0.97,-146.6,128.5,-11.4,55,1177,0.00,2.40,0.00,0.000,4,0.000,0.040,2130,1208,3418
$GC,1214,-0.97,-146.6,132.4,-9.5,57,1218,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,1546,-0.97,-146.6,159.9,-8.9,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,1855,-0.97,-146.6,192.5,-10.9,88,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2164,-0.97,-146.6,223.0,-9.5,103,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2474,-0.97,-146.6,253.4,-10.2,118,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2783,-0.97,-146.6,286.1,-10.8,133,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3092,-0.97,-146.6,318.4,-10.8,148,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3402,-0.97,-146.6,354.8,-11.9,163,3406,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1209,3417
$GC,3446,-1.02,-146.6,360.2,-11.7,165,3450,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2605,3417
$GC,3768,-1.02,-146.6,394.0,-10.7,181,3772,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1205,3417
$GC,3853,-1.02,-146.6,402.7,-10.4,185,3857,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2600,3417
$GC,4180,-1.02,-146.6,442.1,-10.6,201,4184,0.00,2.45,0.00,0.000,4,0.000,0.038,2130,1204,3418
$GC,4267,-1.08,-146.6,450.0,-11.0,205,4271,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2603,3417
$GC,4594,-1.08,-146.6,481.3,-12.5,221,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,4904,-1.08,-146.6,513.7,-9.9,236,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,5212,-1.08,-146.6,548.2,-12.8,251,5216,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1211,3417
$GC,5268,-1.14,-146.6,556.3,-14.5,253,5274,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2602,3416
$GC,5584,-1.14,-146.6,590.9,-9.0,269,5588,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1212,3416
$GC,5679,-1.21,-146.6,598.9,-7.7,273,5684,0.15,2.45,0.00,0.000,6,0.046,0.036,2087,2606,3416
$GC,5995,-1.11,-146.6,629.5,-9.5,288,6000,0.15,2.47,0.00,0.000,4,0.100,0.040,2115,1206,3415
$GC,6057,-1.11,-146.6,634.4,-8.2,291,6062,0.00,2.47,0.00,0.000,6,0.000,0.040,2115,2602,3415
$GC,6384,-1.11,-146.6,658.9,-7.0,307,6389,0.00,2.47,0.00,0.000,4,0.000,0.042,2115,1206,3414
$GC,6440,-1.11,-146.6,662.9,-7.9,309,6446,0.00,2.47,0.00,0.000,6,0.000,0.040,2115,2605,3413
$GC,6756,-1.11,-146.6,704.3,-13.2,325,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2605,3412
$GC,7065,-1.11,-146.6,739.3,-9.8,340,7069,0.00,2.47,0.00,0.000,4,0.000,0.044,2115,1214,3412
$GC,7122,-1.11,-146.6,743.8,-7.9,342,7128,0.00,2.47,0.00,0.000,6,0.000,0.041,2115,2608,3412
$GC,7437,-1.11,-146.6,776.8,-13.0,358,7441,0.00,2.35,0.00,0.000,4,0.000,0.076,2115,3857,3411
$STATE,7635,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7635,begin apogee
$GC,7644,-0.31,0.0,802.3,15.9,366,7778,0.85,0.00,129.88,1.136,6,0.117,0.000,2284,2317,2817
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7781,1.03,146.6,801.2,0.0,373,7921,1.40,2.70,131.57,1.116,4,0.070,0.058,2582,893,2217
$GC,8179,1.03,268.0,775.1,3.4,390,8298,0.00,2.53,108.75,1.095,6,0.000,0.038,2582,2309,1722
$GC,8607,1.32,532.7,763.0,-1.5,411,8855,0.28,2.70,237.48,1.101,4,0.044,0.057,2654,895,644
$GC,8947,1.44,596.9,746.2,5.3,427,8989,0.00,2.53,31.98,1.045,6,0.000,0.039,2654,2301,508
$GC,9298,1.44,596.9,711.2,9.8,444,9302,0.00,2.60,0.00,0.000,4,0.000,0.056,2654,893,501
$GC,9387,1.49,596.9,701.4,12.1,448,9392,0.15,2.50,0.00,0.000,6,0.052,0.039,2693,2302,500
$GC,9709,1.39,596.9,644.5,17.9,464,9714,0.15,2.60,0.00,0.000,4,0.107,0.058,2665,896,499
$GC,9826,1.39,596.9,627.3,13.5,469,9830,0.00,2.50,0.00,0.000,6,0.000,0.038,2666,2308,499
$GC,10141,1.39,596.9,588.7,9.8,484,10146,0.00,2.60,0.00,0.000,4,0.000,0.054,2665,892,498
$GC,10282,1.39,596.9,569.8,15.5,490,10286,0.00,2.50,0.00,0.000,6,0.000,0.037,2666,2302,498
$GC,10597,1.39,596.9,523.6,14.5,505,10602,0.00,2.58,0.00,0.000,4,0.000,0.054,2665,895,498
$GC,10705,1.39,596.9,507.7,14.0,510,10709,0.00,2.50,0.00,0.000,6,0.000,0.037,2666,2309,498
$GC,11032,1.39,596.9,459.2,14.4,526,11036,0.00,2.60,0.00,0.000,4,0.000,0.053,2666,888,497
$GC,11216,1.39,596.9,429.5,16.6,534,11220,0.00,2.50,0.00,0.000,6,0.000,0.036,2665,2301,497
$GC,11532,1.39,596.9,380.1,18.0,549,11536,0.00,2.58,0.00,0.000,4,0.000,0.051,2665,888,497
$GC,11713,1.39,596.9,349.4,20.4,557,11717,0.00,2.47,0.00,0.000,6,0.000,0.034,2666,2301,497
$GC,12033,1.39,596.9,295.7,17.4,573,12037,0.00,2.55,0.00,0.000,4,0.000,0.050,2667,894,497
$GC,12204,1.43,596.9,268.3,16.0,580,12210,0.00,2.47,0.00,0.000,6,0.000,0.034,2665,2309,497
$GC,12520,1.43,596.9,214.8,16.7,596,12524,0.00,2.58,0.00,0.000,4,0.000,0.049,2666,888,497
$GC,12654,1.48,596.9,193.4,14.9,602,12658,0.00,2.47,0.00,0.000,6,0.000,0.034,2666,2302,498
$GC,12976,1.48,596.9,142.1,16.9,618,12980,0.00,2.55,0.00,0.000,4,0.000,0.048,2665,889,497
$GC,13099,1.54,596.9,122.8,15.1,623,13106,0.12,2.45,0.00,0.000,6,0.051,0.033,2704,2300,498
$GC,13417,1.47,596.9,63.3,19.3,639,13422,0.12,2.55,0.00,0.000,4,0.097,0.046,2681,884,498
$GC,13572,1.51,596.9,36.7,16.3,646,13577,0.00,2.47,0.00,0.000,6,0.000,0.033,2680,2303,498
$STATE,13775,end climb,SURFACE_DEPTH_REACHED
$STATE,13775,begin surface coast
$FINISH,0.8,1.014673
$STATE,13795,end surface coast,CONTROL_FINISHED_OK
$STATE,13795,begin surface
$SM_CCo,13879,0.00,0.000,0,0,498,568.85
$SM_GC,1.51,12.45,0.00,0.00,0.087,0.000,0.000,71,2606,498,-10.45,0.17,568.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1783
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.4,60.9
$24V_AH,23.5,25.746
$10V_AH,10.1,12.712
$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,27.950,120.475,639.650,0.000,0.000,18.024,29.540,151.637,6.500,0.000,0.000,15.760,1257.452,10052.959,667.021,1783.025,442.171,0.000,1608.328,0.000,1726.888,0.000,44.735,0.000
$DEVICE_MAMPS,191.750,75.933,1135.927,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.647,445.517,377.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34853,657
$CAP_FILE_SIZE,110333,0
$CFSIZE,260165632,250281984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020709,025436,6349.917,-1347.126,32,1.0,32,-12.8