version: 66.04
glider: 16
mission: 13
dive: 165
start: 7 6 109 11 52 48
data:
$ID,16
$MISSION,13
$DIVE,165
$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,-2110557.5
$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,38
$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
$GPS1,114737,6354.081,-1302.327,30,1.3,30,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-60.0
$GPS2,115231,6354.060,-1302.334,13,1.4,13,-12.4
$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,308.5,25010,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.15,0.000,6,0.000,0.000,66,2607,3416
$GC,80,-1.03,-146.6,7.3,-13.3,3,102,11.80,2.33,0.00,0.000,4,0.179,0.054,2129,3856,3416
$GC,256,-0.98,-146.6,42.9,-12.9,10,262,0.00,2.12,0.00,0.000,6,0.000,0.025,2129,2579,3417
$GC,573,-0.98,-146.6,76.0,-10.9,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3418
$GC,881,-0.98,-146.6,102.0,-8.4,41,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2578,3418
$GC,1191,-0.98,-146.6,132.1,-10.0,56,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,1500,-0.98,-146.6,161.4,-9.2,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3419
$GC,1809,-0.98,-146.6,190.4,-9.6,86,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3419
$GC,2119,-0.98,-146.6,220.7,-9.7,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3419
$GC,2427,-0.98,-146.6,252.8,-10.6,116,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,2737,-0.98,-146.6,286.6,-11.1,131,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3419
$GC,3046,-0.98,-146.6,318.9,-9.8,146,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,3356,-0.98,-146.6,347.3,-8.9,161,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,3664,-0.98,-146.6,374.2,-8.4,176,3669,0.00,2.38,0.00,0.000,4,0.000,0.038,2129,1218,3418
$GC,3704,-0.98,-146.6,377.3,-8.0,178,3708,0.00,2.40,0.00,0.000,6,0.000,0.035,2129,2596,3418
$GC,4030,-0.98,-146.6,404.9,-9.0,194,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3419
$GC,4340,-0.98,-146.6,435.4,-10.0,209,4344,0.00,2.42,0.00,0.000,4,0.000,0.037,2130,1209,3419
$GC,4384,-0.98,-146.6,440.0,-10.2,211,4388,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,4705,-0.98,-146.6,472.9,-10.4,227,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,5015,-0.98,-146.6,501.8,-8.2,242,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,5324,-0.98,-146.6,524.7,-7.4,257,5329,0.00,2.40,0.00,0.000,4,0.000,0.038,2129,1218,3418
$GC,5392,-0.98,-146.6,530.2,-8.0,260,5396,0.00,2.42,0.00,0.000,6,0.000,0.035,2129,2604,3418
$GC,5718,-0.98,-146.6,557.7,-8.9,276,5723,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1216,3417
$GC,5774,-0.98,-146.6,563.2,-9.8,278,5780,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2607,3417
$GC,6090,-0.98,-146.6,595.9,-11.0,294,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3417
$GC,6399,-0.98,-146.6,627.1,-9.3,309,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3417
$GC,6709,-0.98,-146.6,655.5,-9.6,324,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3416
$GC,7018,-0.98,-146.6,685.5,-9.4,339,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3417
$GC,7327,-0.98,-146.6,712.0,-9.2,354,7331,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1211,3417
$GC,7390,-1.04,-146.6,717.6,-9.4,357,7394,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2606,3417
$STATE,7714,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7714,begin apogee
$GC,7723,-0.31,0.0,745.8,8.6,373,7857,0.82,0.00,129.60,1.064,6,0.133,0.000,2286,2297,2817
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7861,1.03,146.6,750.4,0.0,380,7998,1.42,0.00,130.77,1.051,6,0.075,0.000,2584,2297,2218
$GC,8310,1.01,183.1,728.6,6.3,402,8351,0.00,2.72,33.08,1.004,4,0.000,0.062,2584,3700,2069
$GC,8430,0.92,183.1,718.6,10.0,407,8436,0.12,2.42,0.00,0.000,6,0.094,0.028,2561,2314,2068
$GC,8746,0.92,183.1,693.0,8.1,422,8750,0.00,2.58,0.00,0.000,4,0.000,0.050,2561,895,2065
$GC,8801,0.92,183.1,688.3,8.8,424,8807,0.00,2.47,0.00,0.000,6,0.000,0.035,2561,2301,2063
$GC,9117,0.92,183.1,664.7,7.8,440,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2301,2063
$GC,9426,0.92,183.1,640.1,7.9,455,9430,0.00,2.60,0.00,0.000,4,0.000,0.063,2561,3702,2064
$GC,9499,0.87,183.1,634.0,8.3,458,9503,0.00,2.45,0.00,0.000,6,0.000,0.028,2561,2294,2063
$GC,9814,0.87,183.1,608.1,8.9,473,9818,0.00,2.62,0.00,0.000,4,0.000,0.061,2561,3708,2062
$GC,9864,0.82,183.1,603.1,9.9,475,9869,0.12,2.45,0.00,0.000,6,0.101,0.028,2537,2296,2063
$GC,10181,0.90,193.5,577.8,7.1,490,10192,0.00,0.00,9.27,0.826,6,0.000,0.000,2537,2296,2029
$GC,10489,1.03,252.9,558.9,5.5,505,10553,0.20,2.58,56.45,0.938,4,0.044,0.048,2596,901,1783
$GC,10593,1.03,252.9,550.5,8.9,509,10599,0.00,2.47,0.00,0.000,6,0.000,0.034,2596,2304,1778
$GC,10908,1.03,252.9,523.3,8.6,525,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2304,1776
$GC,11218,1.03,252.9,497.0,8.6,540,11221,0.00,2.53,0.00,0.000,4,0.000,0.044,2595,898,1774
$GC,11273,1.03,252.9,491.6,9.8,542,11278,0.00,2.45,0.00,0.000,6,0.000,0.033,2596,2299,1772
$GC,11589,1.03,252.9,460.3,10.4,557,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,1773
$GC,11898,1.03,252.9,427.7,10.6,572,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,1774
$GC,12208,1.03,252.9,394.6,10.5,587,12212,0.00,2.50,0.00,0.000,4,0.000,0.044,2596,892,1773
$GC,12253,1.03,252.9,389.9,10.7,589,12257,0.00,2.45,0.00,0.000,6,0.000,0.033,2596,2308,1772
$GC,12579,1.03,252.9,358.4,8.9,605,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2308,1772
$GC,12888,1.03,252.9,332.7,8.1,620,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2308,1772
$GC,13197,1.03,252.9,306.3,8.9,635,13202,0.00,2.53,0.00,0.000,4,0.000,0.043,2596,891,1772
$GC,13247,1.03,252.9,301.7,8.9,637,13251,0.00,2.42,0.00,0.000,6,0.000,0.031,2596,2299,1772
$GC,13569,1.03,252.9,273.0,8.9,653,13573,0.00,2.55,0.00,0.000,4,0.000,0.057,2596,3698,1772
$GC,13608,0.99,252.9,269.1,9.7,655,13613,0.00,2.40,0.00,0.000,6,0.000,0.027,2596,2296,1772
$GC,13936,0.99,252.9,241.4,8.2,671,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2294,1772
$GC,14245,0.99,252.9,212.3,10.4,686,14249,0.00,2.47,0.00,0.000,4,0.000,0.044,2596,892,1772
$GC,14297,0.99,252.9,206.5,10.8,688,14301,0.00,2.45,0.00,0.000,6,0.000,0.031,2596,2306,1772
$GC,14617,0.99,252.9,171.7,10.6,704,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2306,1772
$GC,14928,0.99,252.9,140.9,10.2,719,14929,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2307,1772
$GC,15237,0.99,252.9,109.8,10.3,734,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2307,1772
$GC,15545,0.99,252.9,80.2,9.2,749,15550,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,894,1772
$GC,15590,0.99,252.9,75.8,9.8,751,15594,0.00,2.45,0.00,0.000,6,0.000,0.031,2596,2309,1772
$GC,15911,0.99,252.9,42.9,10.5,767,15915,0.00,2.50,0.00,0.000,4,0.000,0.041,2596,898,1772
$GC,15989,0.99,252.9,34.6,10.4,770,15995,0.00,2.42,0.00,0.000,6,0.000,0.031,2596,2309,1772
$GC,16306,0.99,252.9,6.7,9.0,786,16311,0.00,2.55,0.00,0.000,4,0.000,0.057,2596,3703,1773
$GC,16334,0.99,252.9,3.4,11.5,787,16338,0.00,2.22,0.00,0.000,3,0.000,0.025,2596,2390,1773
$STATE,16339,end climb,SURFACE_DEPTH_REACHED
$STATE,16339,begin surface coast
$FINISH,2.2,1.026670
$STATE,16348,end surface coast,CONTROL_FINISHED_OK
$STATE,16348,begin surface
$SM_CCo,16432,0.00,0.000,0,0,1769,257.07
$SM_GC,1.50,12.40,0.00,0.00,0.105,0.000,0.000,75,2610,1769,-10.45,0.28,257.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1761
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.5,28.5
$24V_AH,23.6,28.975
$10V_AH,10.1,14.465
$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,26.900,94.250,359.175,0.000,0.000,18.033,28.215,138.105,6.500,0.000,0.000,13.945,1401.696,12834.975,461.496,1601.980,425.601,0.000,1256.999,0.000,1564.542,0.000,45.926,0.000
$DEVICE_MAMPS,178.711,62.894,1063.829,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.844,541.433,461.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38026,788
$CAP_FILE_SIZE,106072,0
$CFSIZE,260165632,248971264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060709,162800,6354.114,-1308.920,39,1.6,44,-12.5