version: 66.04
glider: 16
mission: 13
dive: 161
start: 7 5 109 18 11 25
data:
$ID,16
$MISSION,13
$DIVE,161
$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,-2110497.8
$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,34
$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
$GPS1,180536,6346.192,-1259.194,34,1.4,34,-12.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.5
$GPS2,181107,6346.215,-1259.161,13,1.5,30,-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,327.9,35758,-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,-55.90,0.000,6,0.000,0.000,78,2604,3415
$GC,81,-1.03,-146.6,7.7,-14.3,3,102,12.10,2.35,0.00,0.000,4,0.193,0.058,2130,3857,3416
$GC,278,-0.98,-146.6,45.3,-13.4,11,284,0.00,2.15,0.00,0.000,6,0.000,0.026,2130,2576,3417
$GC,594,-0.98,-146.6,82.1,-11.4,27,598,0.00,2.35,0.00,0.000,4,0.000,0.060,2130,3854,3418
$GC,644,-0.98,-146.6,87.9,-11.0,29,647,0.00,2.12,0.00,0.000,6,0.000,0.025,2130,2590,3418
$GC,965,-0.98,-146.6,122.3,-10.3,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3417
$GC,1276,-0.98,-146.6,152.6,-9.6,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2586,3418
$GC,1584,-0.98,-146.6,181.9,-9.3,75,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3418
$GC,1892,-0.98,-146.6,210.7,-9.1,90,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3419
$GC,2202,-0.98,-146.6,237.4,-8.4,105,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3418
$GC,2511,-0.98,-146.6,263.2,-8.1,120,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2586,3418
$GC,2820,-0.98,-146.6,288.3,-8.1,135,2824,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1218,3418
$GC,2853,-0.98,-146.6,290.9,-7.8,136,2860,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,3169,-0.98,-146.6,315.4,-7.8,152,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,3478,-0.98,-146.6,340.9,-8.6,167,3482,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3418
$GC,3527,-0.98,-146.6,345.3,-8.4,169,3532,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3418
$GC,3843,-0.98,-146.6,372.0,-8.5,184,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,4152,-0.98,-146.6,397.5,-8.3,199,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,4461,-0.98,-146.6,424.1,-8.9,214,4466,0.00,2.42,0.00,0.000,4,0.000,0.038,2130,1215,3417
$GC,4506,-1.02,-146.6,428.1,-9.1,216,4510,0.00,2.40,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,4832,-1.02,-146.6,459.4,-9.9,232,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,5141,-1.02,-146.6,490.3,-10.2,247,5145,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3417
$GC,5192,-1.07,-146.6,495.4,-9.5,249,5196,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3417
$GC,5508,-1.07,-146.6,525.7,-9.0,264,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,5817,-1.07,-146.6,553.0,-8.6,279,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,6126,-1.07,-146.6,579.0,-8.7,294,6130,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1206,3417
$GC,6160,-1.11,-146.6,582.1,-8.4,295,6164,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2609,3416
$GC,6476,-1.11,-146.6,608.5,-8.4,310,6480,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1206,3416
$GC,6509,-1.17,-146.6,611.7,-8.9,311,6516,0.12,2.42,0.00,0.000,6,0.048,0.035,2088,2600,3417
$GC,6825,-1.03,-146.6,643.4,-9.5,327,6827,0.22,0.00,0.00,0.000,6,0.098,0.000,2130,2600,3416
$STATE,7029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7029,begin apogee
$GC,7036,-0.31,0.0,662.1,9.0,337,7171,0.82,0.00,128.15,1.006,6,0.123,0.000,2290,2302,2816
$STATE,7172,end apogee,CONTROL_FINISHED_OK
$STATE,7172,begin climb
$GC,7175,1.03,146.6,667.5,0.0,344,7312,1.40,2.70,128.80,0.996,4,0.087,0.061,2580,3695,2218
$GC,7470,0.91,146.6,648.5,7.9,357,7477,0.12,2.40,0.00,0.000,6,0.095,0.028,2557,2318,2216
$GC,7786,0.87,151.5,624.1,7.3,373,7796,0.00,2.58,4.88,0.670,4,0.000,0.048,2557,903,2199
$GC,7853,0.87,151.5,618.9,8.1,376,7857,0.00,2.47,0.00,0.000,6,0.000,0.034,2557,2308,2197
$GC,8173,0.88,157.5,596.0,7.3,392,8188,0.00,2.67,7.10,0.775,4,0.000,0.061,2557,3704,2173
$GC,8223,0.80,157.5,592.0,9.1,394,8227,0.12,2.45,0.00,0.000,6,0.104,0.028,2535,2297,2173
$GC,8544,0.89,181.8,571.2,6.7,410,8574,0.00,2.62,22.85,0.908,4,0.000,0.047,2534,898,2073
$GC,8610,0.95,181.8,566.6,7.6,413,8615,0.15,2.47,0.00,0.000,6,0.048,0.034,2576,2300,2071
$GC,8936,0.95,181.8,538.8,8.6,429,8941,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,3704,2071
$GC,8999,0.85,181.8,533.3,8.6,432,9004,0.17,2.42,0.00,0.000,6,0.102,0.028,2544,2299,2071
$GC,9326,0.93,210.0,511.3,6.5,448,9354,0.00,0.00,25.83,0.883,6,0.000,0.000,2544,2299,1960
$GC,9656,1.01,221.3,488.1,7.1,464,9674,0.17,0.00,11.40,0.799,6,0.045,0.000,2592,2299,1914
$GC,9983,0.97,221.3,458.7,8.7,480,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1912
$GC,10293,0.97,221.3,431.8,8.7,495,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1911
$GC,10602,0.97,221.3,403.3,9.4,510,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,1911
$GC,10911,0.97,221.3,374.1,9.4,525,10915,0.00,2.58,0.00,0.000,4,0.000,0.058,2592,3704,1911
$GC,10961,0.89,221.3,368.7,11.7,527,10966,0.20,2.42,0.00,0.000,6,0.094,0.027,2554,2296,1911
$GC,11277,0.95,221.3,342.3,8.4,542,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2296,1911
$GC,11586,1.02,221.3,316.6,8.4,557,11588,0.12,0.00,0.00,0.000,6,0.051,0.000,2592,2295,1911
$GC,11895,1.02,221.3,287.0,9.4,572,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1911
$GC,12204,1.02,221.3,257.9,9.1,587,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1911
$GC,12513,1.02,221.3,230.8,8.6,602,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1911
$GC,12823,1.02,221.3,203.2,9.2,617,12827,0.00,2.58,0.00,0.000,4,0.000,0.056,2592,3704,1911
$GC,12885,0.94,221.3,196.9,10.2,620,12890,0.15,2.42,0.00,0.000,6,0.094,0.028,2563,2295,1911
$GC,13212,0.99,221.3,170.2,8.0,636,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2294,1910
$GC,13522,1.04,222.8,145.7,7.4,651,13524,0.10,0.00,0.00,0.000,6,0.054,0.000,2595,2294,1911
$GC,13830,1.04,222.8,118.5,8.5,666,13834,0.00,2.58,0.00,0.000,4,0.000,0.055,2595,3705,1911
$GC,13880,0.95,222.8,113.7,9.3,668,13885,0.15,2.40,0.00,0.000,6,0.094,0.027,2566,2298,1911
$GC,14197,0.99,222.8,88.6,7.8,683,14198,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2297,1911
$GC,14506,1.04,225.3,64.6,7.4,698,14516,0.00,2.50,4.88,0.467,4,0.000,0.044,2566,897,1896
$GC,14601,1.10,225.3,57.0,7.9,702,14606,0.15,2.45,0.00,0.000,6,0.047,0.031,2604,2309,1895
$GC,14917,1.04,225.3,28.8,8.9,717,14921,0.00,2.50,0.00,0.000,4,0.000,0.042,2605,901,1895
$GC,14958,0.99,225.3,24.8,10.1,719,14963,0.15,2.42,0.00,0.000,6,0.088,0.032,2576,2302,1895
$STATE,15262,end climb,SURFACE_DEPTH_REACHED
$STATE,15262,begin surface coast
$FINISH,1.2,1.026616
$STATE,15286,end surface coast,CONTROL_FINISHED_OK
$STATE,15286,begin surface
$SM_CCo,15309,15.07,0.549,0,0,1796,250.21
$SM_GC,2.49,0.00,0.00,15.07,0.000,0.000,0.549,70,2601,1796,-10.54,0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1762
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,627.1,44.6
$24V_AH,23.7,28.501
$10V_AH,10.1,14.188
$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,28.500,89.300,333.875,15.075,0.000,18.325,28.096,158.847,5.250,0.000,0.000,30.946,1334.560,11897.773,452.408,1536.127,440.262,0.000,1207.780,0.000,1487.982,0.000,36.601,0.000
$DEVICE_MAMPS,192.517,60.593,1006.304,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.553,506.314,453.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38092,735
$CAP_FILE_SIZE,106287,0
$CFSIZE,260165632,249167872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050709,222806,6349.420,-1256.604,37,1.7,37,-12.3