version: 66.04
glider: 16
mission: 13
dive: 167
start: 7 6 109 21 37 1
data:
$ID,16
$MISSION,13
$DIVE,167
$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,566.1524
$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,-2110585.2
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,212046,6356.692,-1310.789,42,1.7,51,-12.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.9
$GPS2,213644,6356.779,-1310.571,11,1.4,11,-12.5
$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,303.2,16864,-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,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-55.78,0.000,6,0.000,0.000,79,2603,3415
$GC,81,-1.03,-146.6,7.7,-14.7,3,102,12.00,2.35,0.00,0.000,4,0.188,0.056,2131,3861,3416
$GC,355,-0.99,-146.6,53.3,-11.4,15,359,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2570,3417
$GC,676,-0.99,-146.6,89.1,-10.7,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2568,3417
$GC,985,-0.99,-146.6,111.9,-6.5,46,989,0.00,2.38,0.00,0.000,4,0.000,0.060,2131,3861,3417
$GC,1049,-0.99,-146.6,116.5,-7.5,49,1053,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2592,3417
$GC,1382,-0.99,-146.6,140.2,-7.7,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2589,3417
$GC,1690,-0.99,-146.6,165.5,-8.6,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2589,3417
$GC,2000,-0.99,-146.6,194.2,-9.4,95,2004,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1208,3418
$GC,2038,-0.99,-146.6,197.9,-9.3,96,2044,0.00,2.42,0.00,0.000,6,0.000,0.034,2131,2599,3417
$GC,2354,-0.99,-146.6,228.9,-9.8,112,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,2663,-0.99,-146.6,258.4,-9.6,127,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,2972,-0.99,-146.6,288.1,-9.8,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3416
$GC,3282,-0.99,-146.6,317.9,-9.2,157,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,3591,-0.99,-146.6,346.6,-9.6,172,3595,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1212,3416
$GC,3636,-0.99,-146.6,350.9,-9.0,174,3640,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2602,3416
$GC,3957,-0.99,-146.6,383.2,-9.5,190,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3416
$GC,4266,-0.99,-146.6,407.7,-7.6,205,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3416
$GC,4575,-0.99,-146.6,432.8,-8.2,220,4579,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3416
$GC,4722,-0.99,-146.6,445.6,-8.3,226,4727,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2605,3416
$GC,5039,-0.99,-146.6,469.4,-6.4,241,5043,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3415
$GC,5089,-1.04,-146.6,474.2,-10.6,243,5093,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2609,3415
$GC,5405,-1.04,-146.6,505.2,-9.8,258,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3416
$GC,5713,-1.04,-146.6,538.6,-10.7,273,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3415
$GC,6023,-1.04,-146.6,573.3,-10.8,288,6027,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1209,3415
$GC,6102,-1.09,-146.6,581.2,-9.9,291,6105,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2608,3414
$GC,6423,-1.09,-146.6,609.0,-8.7,307,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3414
$GC,6732,-1.09,-146.6,635.8,-9.0,322,6736,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1211,3414
$GC,6783,-1.13,-146.6,641.0,-10.2,324,6787,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2600,3414
$GC,7098,-1.13,-146.6,667.5,-8.6,339,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3413
$GC,7408,-1.13,-146.6,695.8,-7.8,354,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3413
$STATE,7673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7673,begin apogee
$GC,7680,-0.31,0.0,716.9,8.0,367,7815,0.80,0.00,127.82,1.052,6,0.107,0.000,2292,2305,2817
$STATE,7816,end apogee,CONTROL_FINISHED_OK
$STATE,7816,begin climb
$GC,7819,1.03,146.6,719.4,0.0,374,7957,1.38,2.67,129.45,1.040,4,0.084,0.061,2579,3701,2219
$GC,8124,0.97,187.3,708.1,6.1,388,8166,0.00,2.42,36.90,1.002,6,0.000,0.030,2578,2316,2052
$GC,8475,1.02,228.8,688.2,6.1,405,8516,0.00,0.00,38.47,0.999,6,0.000,0.000,2578,2315,1884
$GC,8824,1.02,228.8,665.8,7.8,422,8828,0.00,2.60,0.00,0.000,4,0.000,0.064,2578,3699,1877
$GC,8868,1.02,228.8,661.3,9.9,424,8872,0.00,2.42,0.00,0.000,6,0.000,0.029,2578,2300,1877
$GC,9195,1.02,228.8,629.7,9.6,440,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2300,1875
$GC,9504,1.02,228.8,603.3,8.2,455,9508,0.00,2.55,0.00,0.000,4,0.000,0.051,2579,896,1874
$GC,9548,1.06,228.8,599.3,8.9,457,9552,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2302,1873
$GC,9874,1.06,228.8,569.4,9.5,473,9879,0.00,2.55,0.00,0.000,4,0.000,0.048,2579,892,1873
$GC,9937,1.06,228.8,563.0,10.7,476,9941,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2308,1872
$GC,10263,1.06,228.8,529.4,9.3,492,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2308,1872
$GC,10573,1.08,244.7,506.3,7.0,507,10595,0.00,2.58,14.23,0.853,4,0.000,0.046,2579,899,1818
$GC,10686,1.15,261.1,497.7,6.9,512,10709,0.15,2.47,16.40,0.858,6,0.054,0.035,2622,2307,1752
$GC,11020,1.08,261.1,464.7,9.4,528,11024,0.15,2.53,0.00,0.000,4,0.094,0.046,2593,899,1749
$GC,11104,1.08,261.1,456.6,9.5,532,11108,0.00,2.45,0.00,0.000,6,0.000,0.034,2593,2300,1747
$GC,11431,1.08,261.1,426.0,9.5,548,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1747
$GC,11739,1.08,261.1,395.7,9.9,563,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1747
$GC,12049,1.08,261.1,365.2,9.6,578,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1747
$GC,12358,1.08,261.1,335.6,9.7,593,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1747
$GC,12667,1.08,261.1,306.2,9.5,608,12671,0.00,2.50,0.00,0.000,4,0.000,0.044,2593,892,1747
$GC,12730,1.08,261.1,300.0,9.2,611,12734,0.00,2.45,0.00,0.000,6,0.000,0.032,2593,2304,1746
$GC,13057,1.08,261.1,268.7,9.4,627,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1746
$GC,13366,1.08,261.1,240.8,8.9,642,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2304,1746
$GC,13675,1.08,261.1,212.9,9.2,657,13679,0.00,2.47,0.00,0.000,4,0.000,0.042,2593,896,1747
$GC,13726,1.08,261.1,207.9,10.0,659,13731,0.00,2.45,0.00,0.000,6,0.000,0.031,2593,2311,1747
$GC,14048,1.08,261.1,177.2,9.9,675,14052,0.00,2.50,0.00,0.000,4,0.000,0.043,2593,896,1747
$GC,14087,1.08,261.1,173.1,10.2,677,14091,0.00,2.42,0.00,0.000,6,0.000,0.031,2593,2299,1747
$GC,14414,1.08,261.1,138.6,10.7,693,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2300,1747
$GC,14724,1.08,261.1,107.6,9.2,708,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2299,1747
$GC,15032,1.09,266.3,83.5,7.3,723,15043,0.00,2.50,5.45,0.495,4,0.000,0.041,2593,894,1731
$GC,15127,1.09,266.3,75.9,8.0,727,15131,0.00,2.45,0.00,0.000,6,0.000,0.031,2593,2306,1730
$GC,15443,1.09,266.3,46.9,9.2,742,15447,0.00,2.55,0.00,0.000,4,0.000,0.057,2593,3704,1730
$GC,15483,1.09,266.3,43.0,10.4,744,15487,0.00,2.40,0.00,0.000,6,0.000,0.026,2593,2292,1730
$GC,15816,1.09,266.3,13.3,7.8,760,15820,0.00,2.45,0.00,0.000,4,0.000,0.044,2592,904,1730
$GC,15878,1.09,266.3,6.8,11.6,763,15882,0.00,2.42,0.00,0.000,6,0.000,0.031,2592,2306,1729
$STATE,15935,end climb,SURFACE_DEPTH_REACHED
$STATE,15935,begin surface coast
$FINISH,0.8,1.014518
$STATE,15956,end surface coast,CONTROL_FINISHED_OK
$STATE,15956,begin surface
$SM_CCo,15979,183.30,0.572,0,0,509,566.15
$SM_GC,1.33,0.00,0.00,183.30,0.000,0.000,0.572,77,2600,509,-10.50,0.00,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1717
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.7,99.2
$24V_AH,23.6,29.266
$10V_AH,10.1,14.619
$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,26.875,98.875,368.725,183.300,0.000,91.173,138.757,341.542,5.250,0.000,0.000,11.802,1395.400,12560.472,632.768,1684.010,850.399,0.000,1466.167,0.000,1645.150,0.000,37.959,0.000
$DEVICE_MAMPS,187.915,63.661,1052.324,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.813,524.039,471.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38010,767
$CAP_FILE_SIZE,116138,0
$CFSIZE,260165632,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070709,020737,6357.630,-1313.929,34,1.2,34,-12.5