version: 66.04
glider: 16
mission: 13
dive: 162
start: 7 5 109 22 36 25
data:
$ID,16
$MISSION,13
$DIVE,162
$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,-2110509.2
$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,37
$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
$GPS1,222806,6349.420,-1256.604,37,1.7,37,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-60.1
$GPS2,223608,6349.438,-1256.573,10,1.4,10,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$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,318.1,33453,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-53.42,0.000,6,0.000,0.000,69,2602,3417
$GC,76,-1.03,-146.6,3.9,-9.7,2,98,11.88,2.35,0.00,0.000,4,0.183,0.057,2128,3859,3419
$GC,351,-0.98,-146.6,51.2,-11.4,14,355,0.00,2.15,0.00,0.000,6,0.000,0.025,2128,2582,3419
$GC,672,-0.98,-146.6,86.1,-10.8,30,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,982,-0.98,-146.6,118.6,-10.8,45,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,1293,-0.98,-146.6,149.9,-9.4,60,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,1600,-0.98,-146.6,178.8,-9.3,75,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3419
$GC,1909,-0.98,-146.6,209.6,-10.5,90,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,2218,-0.98,-146.6,242.0,-10.5,105,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,2528,-0.98,-146.6,274.4,-10.3,120,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,2837,-0.98,-146.6,305.3,-9.7,135,2841,0.00,2.40,0.00,0.000,4,0.000,0.039,2128,1209,3420
$GC,2886,-0.98,-146.6,310.2,-9.9,137,2890,0.00,2.40,0.00,0.000,6,0.000,0.035,2128,2596,3420
$GC,3207,-0.98,-146.6,340.8,-9.8,153,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2596,3419
$GC,3516,-0.98,-146.6,371.4,-10.1,168,3520,0.00,2.42,0.00,0.000,4,0.000,0.038,2128,1211,3419
$GC,3556,-0.98,-146.6,375.4,-10.1,170,3560,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2600,3419
$GC,3883,-0.98,-146.6,409.1,-10.5,186,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3419
$GC,4192,-0.98,-146.6,441.4,-10.2,201,4196,0.00,2.42,0.00,0.000,4,0.000,0.038,2128,1213,3419
$GC,4224,-0.98,-146.6,444.8,-9.7,202,4230,0.00,2.42,0.00,0.000,6,0.000,0.035,2128,2600,3419
$GC,4540,-0.98,-146.6,474.9,-9.2,218,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3419
$GC,4850,-0.98,-146.6,501.5,-8.0,233,4854,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1212,3418
$GC,4899,-0.98,-146.6,505.9,-8.0,235,4903,0.00,2.42,0.00,0.000,6,0.000,0.035,2128,2600,3419
$GC,5215,-0.98,-146.6,533.8,-9.1,250,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,5524,-0.98,-146.6,562.1,-9.1,265,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,5834,-0.98,-146.6,589.4,-8.6,280,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,6143,-0.98,-146.6,615.4,-8.3,295,6147,0.00,2.33,0.00,0.000,4,0.000,0.069,2128,3857,3418
$GC,6192,-0.98,-146.6,619.8,-8.3,297,6197,0.00,2.10,0.00,0.000,6,0.000,0.027,2128,2593,3418
$GC,6514,-0.98,-146.6,644.9,-8.3,313,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2592,3417
$STATE,6655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6655,begin apogee
$GC,6662,-0.31,0.0,656.9,8.3,320,6798,0.77,0.00,128.27,1.003,6,0.092,0.000,2288,2308,2816
$STATE,6799,end apogee,CONTROL_FINISHED_OK
$STATE,6799,begin climb
$GC,6802,1.03,146.6,662.3,0.0,327,6939,1.35,2.58,129.35,0.993,4,0.066,0.046,2581,914,2219
$GC,6987,0.99,190.7,659.0,6.0,335,7035,0.00,2.47,39.95,0.962,6,0.000,0.034,2581,2312,2038
$GC,7344,0.99,190.7,629.0,9.3,353,7349,0.00,2.58,0.00,0.000,4,0.000,0.062,2581,3700,2032
$GC,7401,0.91,190.7,623.5,9.8,355,7408,0.12,2.40,0.00,0.000,6,0.097,0.028,2557,2312,2032
$GC,7717,0.91,190.7,595.6,8.6,371,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2312,2030
$GC,8026,0.91,190.7,571.7,7.6,386,8030,0.00,2.58,0.00,0.000,4,0.000,0.060,2557,3701,2029
$GC,8099,0.86,190.7,565.9,7.9,389,8103,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,2300,2029
$GC,8414,0.88,203.3,544.3,7.1,404,8430,0.00,2.55,10.93,0.825,4,0.000,0.047,2557,902,1988
$GC,8477,0.88,203.3,539.5,8.5,406,8481,0.00,2.45,0.00,0.000,6,0.000,0.034,2557,2301,1986
$GC,8809,0.89,215.2,514.0,7.1,422,8831,0.00,2.67,12.25,0.822,4,0.000,0.060,2557,3698,1939
$GC,8904,0.89,216.2,507.0,7.5,426,8908,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,2299,1938
$GC,9226,0.98,245.1,486.1,6.5,442,9260,0.00,2.60,28.83,0.871,4,0.000,0.046,2557,902,1816
$GC,9317,1.05,248.1,479.5,7.4,446,9322,0.15,2.47,0.00,0.000,6,0.048,0.034,2601,2308,1813
$GC,9639,1.01,248.1,450.5,9.3,462,9641,0.12,0.00,0.00,0.000,6,0.094,0.000,2578,2308,1812
$GC,9947,1.01,248.1,425.0,8.3,477,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2308,1810
$GC,10257,1.01,248.1,398.4,8.7,492,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2308,1810
$GC,10566,1.01,248.1,369.9,9.7,507,10570,0.00,2.50,0.00,0.000,4,0.000,0.043,2577,901,1809
$GC,10612,1.01,248.1,365.2,10.2,509,10616,0.00,2.42,0.00,0.000,6,0.000,0.032,2578,2303,1809
$GC,10944,1.01,248.1,332.7,9.8,525,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2303,1808
$GC,11254,1.01,248.1,302.7,9.5,540,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2303,1808
$GC,11562,1.01,248.1,275.7,8.6,555,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2303,1809
$GC,11872,1.01,248.1,249.0,8.7,570,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2304,1809
$GC,12181,1.01,248.1,221.7,8.9,585,12186,0.00,2.50,0.00,0.000,4,0.000,0.042,2577,892,1809
$GC,12225,1.01,248.1,217.2,10.8,587,12229,0.00,2.42,0.00,0.000,6,0.000,0.032,2578,2299,1808
$GC,12551,1.01,248.1,189.7,8.3,603,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2300,1808
$GC,12861,1.01,248.1,163.6,8.2,618,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1808
$GC,13171,1.01,251.3,139.8,7.4,633,13178,0.00,0.00,5.72,0.526,6,0.000,0.000,2578,2299,1792
$GC,13481,1.01,251.3,114.5,8.7,648,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2299,1791
$GC,13790,1.06,251.3,77.2,13.2,663,13794,0.00,2.55,0.00,0.000,4,0.000,0.058,2577,3698,1792
$GC,13839,1.06,251.3,70.4,13.3,665,13843,0.00,2.40,0.00,0.000,6,0.000,0.026,2577,2292,1792
$GC,14160,1.10,251.3,37.3,8.3,681,14165,0.10,2.45,0.00,0.000,4,0.051,0.042,2610,899,1791
$GC,14224,1.05,251.3,31.9,8.3,684,14228,0.00,2.42,0.00,0.000,6,0.000,0.031,2610,2302,1791
$STATE,14548,end climb,SURFACE_DEPTH_REACHED
$STATE,14548,begin surface coast
$FINISH,0.7,1.026644
$STATE,14570,end surface coast,CONTROL_FINISHED_OK
$STATE,14570,begin surface
$SM_CCo,14653,0.00,0.000,0,0,1789,252.17
$SM_GC,1.47,11.82,0.00,0.00,0.077,0.000,0.000,64,2601,1789,-10.47,0.03,252.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1761
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.0,91.1
$24V_AH,23.7,28.615
$10V_AH,10.1,14.255
$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,26.325,79.100,355.300,0.000,0.000,35.938,52.852,212.400,4.750,0.000,0.000,10.848,1256.824,11454.368,422.239,1466.667,534.800,0.000,1157.492,0.000,1435.657,0.000,33.796,0.000
$DEVICE_MAMPS,182.546,69.030,1003.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.586,478.683,427.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34910,701
$CAP_FILE_SIZE,98314,0
$CFSIZE,260165632,249126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060709,024155,6350.257,-1259.305,41,1.8,41,-12.4