version: 66.04
glider: 16
mission: 13
dive: 60
start: 6 14 109 20 37 19
data:
$ID,16
$MISSION,13
$DIVE,60
$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,-2108665.8
$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,31
$R_STBD_OVSHOOT,20
$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
$GPS1,203236,6156.199,-927.524,32,1.1,32,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.4
$GPS2,203701,6156.203,-927.574,11,1.2,16,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6156.203,-950.529
$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,279.6,20000,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.72,0.000,6,0.000,0.000,62,2602,3416
$GC,82,-1.03,-146.6,3.9,-5.3,3,104,12.00,2.53,0.00,0.000,4,0.186,0.036,2130,1191,3416
$GC,345,-1.03,-146.6,44.6,-10.0,14,352,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3418
$GC,661,-1.03,-146.6,77.0,-9.6,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,971,-1.03,-146.6,96.7,-5.7,45,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,1280,-1.03,-146.6,119.4,-8.5,60,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,1589,-1.03,-146.6,149.5,-9.8,75,1597,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1185,3417
$GC,1642,-1.03,-146.6,154.7,-9.4,77,1646,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2603,3418
$GC,1963,-1.03,-146.6,182.9,-8.7,93,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,2272,-1.03,-146.6,212.4,-9.6,108,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3418
$GC,2582,-1.03,-146.6,238.8,-8.3,123,2586,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1187,3418
$GC,2626,-1.07,-146.6,242.4,-7.5,125,2631,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2608,3418
$GC,2947,-1.07,-146.6,265.6,-7.0,141,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,3257,-1.07,-146.6,288.3,-7.7,156,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,3566,-1.07,-146.6,313.7,-8.6,171,3569,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1191,3418
$GC,3605,-1.12,-146.6,317.1,-8.2,172,3611,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,3920,-1.12,-146.6,344.5,-8.7,188,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,4229,-1.12,-146.6,371.4,-8.6,203,4234,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1186,3417
$GC,4270,-1.18,-146.6,374.8,-8.3,205,4275,0.12,2.47,0.00,0.000,6,0.049,0.038,2092,2600,3417
$GC,4605,-1.08,-146.6,410.1,-10.9,221,4607,0.17,0.00,0.00,0.000,6,0.097,0.000,2125,2600,3417
$GC,4912,-1.08,-146.6,438.1,-9.0,236,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3417
$GC,5222,-1.08,-146.6,464.5,-8.2,251,5226,0.00,2.47,0.00,0.000,4,0.000,0.041,2125,1192,3417
$GC,5272,-1.12,-146.6,468.4,-7.6,253,5276,0.00,2.47,0.00,0.000,6,0.000,0.039,2125,2600,3417
$GC,5588,-1.12,-146.6,489.3,-5.9,268,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3417
$GC,5897,-1.12,-146.6,501.7,-2.5,283,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3417
$GC,6206,-1.12,-146.6,488.7,8.8,298,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3416
$GC,6515,-1.12,-146.6,471.5,-1.3,313,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3417
$GC,6824,-1.12,-146.6,492.8,-14.2,328,6828,0.00,2.35,0.00,0.000,4,0.000,0.073,2125,3860,3417
$GC,6932,-1.12,-146.6,508.9,-12.0,333,6936,0.00,2.17,0.00,0.000,6,0.000,0.031,2125,2581,3416
$GC,7264,-1.12,-146.6,554.9,-11.1,349,7268,0.00,2.45,0.00,0.000,4,0.000,0.046,2125,1201,3416
$GC,7353,-1.17,-146.6,562.8,-7.8,353,7358,0.00,2.47,0.00,0.000,6,0.000,0.040,2125,2603,3417
$GC,7674,-1.17,-146.6,603.3,-12.6,369,7679,0.00,2.47,0.00,0.000,4,0.000,0.045,2125,1207,3416
$STATE,7705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7705,begin apogee
$GC,7714,-0.31,0.0,608.6,15.2,370,7844,0.77,0.00,126.90,0.950,6,0.105,0.000,2284,2303,2817
$STATE,7845,end apogee,CONTROL_FINISHED_OK
$STATE,7845,begin climb
$GC,7848,1.03,146.6,619.1,0.0,377,7986,1.38,2.62,128.98,0.940,4,0.071,0.052,2579,920,2218
$GC,8245,0.94,197.9,618.3,5.7,395,8295,0.00,2.45,45.42,0.917,6,0.000,0.039,2579,2297,2010
$GC,8619,0.82,197.9,593.5,8.5,413,8624,0.17,2.53,0.00,0.000,4,0.096,0.048,2542,905,2004
$GC,8686,0.84,211.2,589.0,7.0,416,8703,0.00,2.47,12.25,0.823,6,0.000,0.038,2542,2301,1956
$GC,9012,0.84,211.2,566.8,9.2,432,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2301,1954
$GC,9322,0.97,338.2,558.9,3.2,447,9446,0.15,2.70,116.45,0.909,4,0.053,0.065,2584,3706,1436
$GC,9494,0.97,338.2,548.6,7.7,455,9498,0.00,2.47,0.00,0.000,6,0.000,0.032,2583,2310,1433
$GC,9821,1.03,338.2,517.8,12.1,471,9825,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,899,1427
$GC,9849,1.08,344.4,515.7,7.3,472,9860,0.00,2.50,5.28,0.634,6,0.000,0.037,2583,2311,1411
$GC,10169,1.12,344.4,492.7,10.5,488,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2311,1410
$GC,10479,1.17,344.4,458.2,11.4,503,10484,0.15,2.55,0.00,0.000,4,0.051,0.048,2628,895,1409
$GC,10519,1.10,344.4,452.7,14.3,505,10524,0.15,2.45,0.00,0.000,6,0.088,0.036,2598,2298,1407
$GC,10846,1.10,344.4,408.9,13.5,521,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2298,1407
$GC,11155,1.10,344.4,368.4,12.9,536,11159,0.00,2.53,0.00,0.000,4,0.000,0.048,2598,897,1407
$GC,11222,1.10,344.4,359.3,13.3,539,11227,0.00,2.47,0.00,0.000,6,0.000,0.036,2598,2305,1406
$GC,11544,1.10,344.4,319.1,12.2,555,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2305,1406
$GC,11853,1.10,344.4,282.8,11.6,570,11857,0.00,2.53,0.00,0.000,4,0.000,0.047,2598,898,1406
$GC,11914,1.10,344.4,275.5,12.1,573,11919,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2299,1405
$GC,12241,1.10,344.4,237.4,11.5,589,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2299,1405
$GC,12550,1.10,344.4,200.1,12.5,604,12554,0.00,2.53,0.00,0.000,4,0.000,0.048,2598,891,1406
$GC,12617,1.10,344.4,191.5,12.5,607,12621,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2305,1406
$GC,12938,1.10,344.4,152.1,12.2,623,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2305,1405
$GC,13247,1.10,344.4,114.6,11.7,638,13252,0.00,2.53,0.00,0.000,4,0.000,0.047,2598,895,1406
$GC,13310,1.10,344.4,107.2,11.9,641,13314,0.00,2.45,0.00,0.000,6,0.000,0.035,2598,2299,1405
$GC,13637,1.10,344.4,69.5,11.4,657,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2299,1405
$GC,13946,1.10,344.4,35.1,11.0,672,13950,0.00,2.50,0.00,0.000,4,0.000,0.047,2598,898,1405
$GC,14024,1.16,344.4,25.5,12.1,675,14030,0.00,2.45,0.00,0.000,6,0.000,0.036,2598,2308,1405
$STATE,14234,end climb,SURFACE_DEPTH_REACHED
$STATE,14234,begin surface coast
$FINISH,0.7,1.013106
$STATE,14256,end surface coast,CONTROL_FINISHED_OK
$STATE,14256,begin surface
$SM_CCo,14339,0.00,0.000,0,0,1404,346.36
$SM_GC,1.55,11.98,0.00,0.00,0.086,0.000,0.000,71,2607,1404,-10.47,0.20,346.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1733
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.3,42.7
$24V_AH,23.7,14.600
$10V_AH,10.1,6.315
$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,27.050,94.500,435.275,0.000,0.000,18.013,26.525,115.111,4.750,0.000,0.000,16.191,1249.097,10940.910,497.955,1549.258,371.396,0.000,1284.796,0.000,1510.640,0.000,33.381,0.000
$DEVICE_MAMPS,185.614,72.865,949.546,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.498,466.899,427.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34874,687
$CAP_FILE_SIZE,100299,0
$CFSIZE,260165632,255148032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150609,003737,6156.799,-932.534,37,1.7,43,-9.7