version: 66.04
glider: 16
mission: 13
dive: 159
start: 7 5 109 9 53 53
data:
$ID,16
$MISSION,13
$DIVE,159
$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,-2110454
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,094736,6342.507,-1258.269,37,0.9,49,-12.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.7
$GPS2,095337,6342.534,-1258.240,11,1.4,28,-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,333.7,41366,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-56.62,0.000,6,0.000,0.000,73,2598,3416
$GC,81,-1.03,-146.6,7.4,-14.1,3,102,11.80,2.35,0.00,0.000,4,0.182,0.057,2129,3858,3417
$GC,315,-1.03,-146.6,45.8,-9.1,13,319,0.00,2.15,0.00,0.000,6,0.000,0.025,2129,2579,3419
$GC,631,-1.03,-146.6,74.3,-9.4,28,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2577,3419
$GC,940,-1.03,-146.6,102.5,-8.8,43,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3420
$GC,1249,-1.03,-146.6,128.8,-8.6,58,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3419
$GC,1558,-1.03,-146.6,156.7,-9.3,73,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,1868,-1.03,-146.6,186.4,-10.3,88,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3420
$GC,2177,-1.03,-146.6,218.0,-10.3,103,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,2486,-1.03,-146.6,249.9,-10.3,118,2494,0.00,2.35,0.00,0.000,4,0.000,0.063,2129,3857,3419
$GC,2534,-1.03,-146.6,255.1,-11.0,120,2538,0.00,2.10,0.00,0.000,6,0.000,0.027,2130,2598,3419
$GC,2867,-1.03,-146.6,289.2,-10.3,136,2871,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,2916,-1.03,-146.6,294.5,-10.2,138,2921,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3419
$GC,3233,-1.03,-146.6,326.8,-10.1,153,3237,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3419
$GC,3266,-1.03,-146.6,330.1,-9.7,154,3272,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3419
$GC,3581,-1.03,-146.6,358.6,-8.6,170,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,3891,-1.03,-146.6,382.1,-7.4,185,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4200,-1.03,-146.6,406.6,-8.9,200,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4509,-1.03,-146.6,437.9,-10.5,215,4513,0.00,2.42,0.00,0.000,4,0.000,0.038,2129,1214,3418
$GC,4604,-1.03,-146.6,447.8,-10.2,219,4608,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2599,3418
$GC,4919,-1.03,-146.6,481.3,-12.1,234,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,5229,-1.03,-146.6,517.1,-9.8,249,5233,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1212,3418
$GC,5273,-1.07,-146.6,520.9,-8.0,251,5278,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,5595,-1.07,-146.6,545.5,-6.8,267,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5904,-1.07,-146.6,559.3,-6.3,282,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,6213,-1.07,-146.6,586.3,-7.6,297,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,6523,-1.07,-146.6,606.0,-6.3,312,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,6832,-1.07,-146.6,632.3,-9.0,327,6836,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3416
$GC,6872,-1.14,-146.6,636.2,-9.6,329,6876,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2609,3417
$STATE,7093,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7093,begin apogee
$GC,7100,-0.31,0.0,657.1,8.8,340,7235,0.85,0.00,128.12,1.008,6,0.134,0.000,2290,2299,2817
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7239,1.03,146.6,662.0,0.0,347,7377,1.40,2.67,129.80,0.996,4,0.075,0.060,2584,3701,2219
$GC,7436,0.90,173.1,656.9,6.6,356,7469,0.15,2.42,24.35,0.941,6,0.100,0.027,2557,2310,2111
$GC,7777,0.90,173.1,630.1,9.2,373,7782,0.00,2.53,0.00,0.000,4,0.000,0.047,2557,905,2105
$GC,7923,0.90,173.1,616.8,8.5,379,7929,0.00,2.47,0.00,0.000,6,0.000,0.034,2557,2311,2103
$GC,8239,0.90,173.1,590.7,9.1,395,8243,0.00,2.58,0.00,0.000,4,0.000,0.062,2557,3699,2103
$GC,8328,0.84,173.1,581.1,10.5,399,8332,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,2297,2103
$GC,8654,0.84,173.1,549.2,8.8,415,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2297,2102
$GC,8964,0.96,286.3,532.9,3.6,430,9071,0.00,2.60,101.25,0.927,4,0.000,0.048,2557,897,1648
$GC,9156,1.08,308.2,522.4,6.8,439,9182,0.17,2.47,20.20,0.862,6,0.045,0.034,2603,2299,1560
$GC,9501,1.08,308.2,492.5,9.7,456,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2299,1552
$GC,9807,1.08,308.2,454.6,13.6,471,9812,0.00,2.53,0.00,0.000,4,0.000,0.045,2603,899,1550
$GC,9857,1.08,308.2,447.4,14.0,473,9862,0.00,2.47,0.00,0.000,6,0.000,0.034,2603,2308,1550
$GC,10173,1.08,308.2,411.3,9.9,488,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2308,1549
$GC,10482,1.08,308.2,386.2,8.1,503,10486,0.00,2.53,0.00,0.000,4,0.000,0.044,2603,896,1549
$GC,10554,1.08,308.2,379.0,10.4,506,10558,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2301,1548
$GC,10875,1.08,308.2,342.1,12.2,522,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2301,1548
$GC,11184,1.08,308.2,305.3,11.8,537,11188,0.00,2.50,0.00,0.000,4,0.000,0.044,2602,897,1548
$GC,11256,1.08,308.2,296.6,12.6,540,11261,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2302,1547
$GC,11578,1.08,308.2,262.6,10.4,556,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2302,1547
$GC,11886,1.08,308.2,232.0,9.9,571,11890,0.00,2.50,0.00,0.000,4,0.000,0.043,2603,897,1548
$GC,11932,1.08,308.2,227.3,9.7,573,11936,0.00,2.42,0.00,0.000,6,0.000,0.032,2603,2299,1547
$GC,12264,1.08,308.2,192.8,10.8,589,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2299,1547
$GC,12573,1.08,308.2,158.2,11.2,604,12578,0.00,2.50,0.00,0.000,4,0.000,0.044,2603,897,1547
$GC,12636,1.08,308.2,151.2,11.1,607,12640,0.00,2.45,0.00,0.000,6,0.000,0.033,2603,2306,1547
$GC,12963,1.08,308.2,112.8,12.1,623,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2306,1547
$GC,13273,1.08,308.2,78.0,10.0,638,13278,0.00,2.53,0.00,0.000,4,0.000,0.043,2603,892,1547
$GC,13346,1.08,308.2,70.8,9.5,641,13350,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,2302,1547
$GC,13662,1.12,343.4,48.7,6.3,656,13694,0.00,0.00,30.02,0.597,6,0.000,0.000,2603,2302,1417
$GC,13993,1.20,343.4,16.8,9.8,672,13997,0.00,2.50,0.00,0.000,4,0.000,0.043,2603,896,1412
$GC,14050,1.28,343.4,10.9,10.9,674,14057,0.17,2.45,0.00,0.000,6,0.046,0.031,2655,2305,1411
$STATE,14115,end climb,SURFACE_DEPTH_REACHED
$STATE,14115,begin surface coast
$FINISH,0.8,1.002838
$STATE,14137,end surface coast,CONTROL_FINISHED_OK
$STATE,14137,begin surface
$SM_CCo,14221,0.00,0.000,0,0,1407,345.87
$SM_GC,1.52,12.23,0.00,0.00,0.084,0.000,0.000,67,2603,1407,-10.46,0.08,345.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1754
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.7,14.9
$24V_AH,23.7,28.282
$10V_AH,10.1,14.053
$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,26.775,89.150,433.750,0.000,0.000,18.325,28.227,190.450,5.500,0.000,0.000,28.819,1230.023,10877.089,519.746,1496.124,458.413,0.000,1260.428,0.000,1445.545,0.000,38.154,0.000
$DEVICE_MAMPS,181.779,62.894,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.540,462.713,429.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34880,679
$CAP_FILE_SIZE,97520,0
$CFSIZE,260165632,249274368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050709,135206,6344.244,-1257.569,36,1.0,36,-12.3