version: 66.04
glider: 16
mission: 13
dive: 164
start: 7 6 109 7 11 25
data:
$ID,16
$MISSION,13
$DIVE,164
$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,-2110542.8
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,070625,6351.877,-1302.396,43,1.3,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-54.4
$GPS2,071108,6351.887,-1302.363,15,1.1,15,-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,316.2,27003,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-79.68,0.000,6,0.000,0.000,71,2605,3416
$GC,102,-1.03,-146.6,5.6,-6.6,4,123,11.77,2.35,0.00,0.000,4,0.179,0.057,2131,3864,3418
$GC,299,-1.03,-146.6,39.8,-12.1,12,305,0.00,2.15,0.00,0.000,6,0.000,0.025,2131,2576,3419
$GC,614,-1.03,-146.6,70.2,-9.7,28,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,924,-1.03,-146.6,97.8,-9.7,43,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2576,3419
$GC,1235,-1.03,-146.6,133.7,-12.5,58,1239,0.00,2.38,0.00,0.000,4,0.000,0.038,2131,1215,3419
$GC,1274,-1.03,-146.6,138.9,-11.9,60,1279,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,1603,-1.03,-146.6,175.4,-10.4,76,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,1911,-1.03,-146.6,207.9,-10.7,91,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2220,-1.03,-146.6,241.2,-10.9,106,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2529,-1.03,-146.6,274.7,-10.5,121,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,2838,-1.03,-146.6,304.5,-9.2,136,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,3147,-1.03,-146.6,332.6,-9.1,151,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3419
$GC,3457,-1.03,-146.6,361.7,-9.5,166,3460,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3419
$GC,3496,-1.03,-146.6,365.5,-8.8,167,3502,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2603,3418
$GC,3811,-1.03,-146.6,394.7,-9.1,183,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4120,-1.03,-146.6,421.6,-8.5,198,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,4430,-1.03,-146.6,447.5,-8.4,213,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4739,-1.03,-146.6,472.8,-8.0,228,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,5048,-1.03,-146.6,498.4,-8.8,243,5052,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1216,3418
$GC,5098,-1.03,-146.6,502.9,-9.0,245,5102,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,5413,-1.03,-146.6,532.5,-9.2,260,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,5723,-1.03,-146.6,560.4,-9.0,275,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,6032,-1.03,-146.6,589.4,-9.5,290,6036,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1215,3417
$GC,6100,-1.07,-146.6,595.8,-9.6,293,6104,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3417
$GC,6425,-1.07,-146.6,625.2,-8.9,309,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3417
$GC,6730,-1.07,-146.6,649.8,-8.2,324,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3417
$GC,7043,-1.07,-146.6,675.4,-8.5,339,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3416
$GC,7348,-1.07,-146.6,700.6,-8.3,354,7353,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3416
$GC,7394,-1.14,-146.6,704.3,-8.6,356,7398,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2600,3416
$STATE,7527,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7527,begin apogee
$GC,7534,-0.31,0.0,715.2,8.1,363,7670,0.80,0.00,129.02,1.042,6,0.107,0.000,2290,2305,2816
$STATE,7670,end apogee,CONTROL_FINISHED_OK
$STATE,7670,begin climb
$GC,7674,1.03,146.6,720.2,0.0,370,7812,1.33,2.60,129.82,1.028,4,0.065,0.045,2578,916,2218
$GC,7860,0.92,147.1,715.0,7.5,378,7866,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2311,2215
$GC,8176,0.88,149.4,693.7,7.4,394,8178,0.15,0.00,0.00,0.000,6,0.093,0.000,2550,2312,2213
$GC,8485,0.88,149.4,670.8,7.7,409,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2312,2212
$GC,8794,0.89,154.4,648.5,7.3,424,8803,0.00,0.00,6.90,0.790,6,0.000,0.000,2551,2312,2187
$GC,9104,0.95,215.4,627.5,5.4,439,9167,0.00,2.65,56.50,0.976,4,0.000,0.061,2550,3703,1937
$GC,9206,0.96,221.9,621.5,7.3,443,9220,0.00,2.42,7.18,0.781,6,0.000,0.028,2550,2313,1911
$GC,9544,1.02,221.9,597.4,8.3,460,9549,0.15,2.55,0.00,0.000,4,0.048,0.048,2589,902,1906
$GC,9629,0.97,221.9,588.4,11.3,464,9633,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2311,1905
$GC,9955,0.97,221.9,553.5,10.6,480,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2311,1905
$GC,10265,0.93,221.9,522.5,9.7,495,10267,0.15,0.00,0.00,0.000,6,0.094,0.000,2560,2311,1904
$GC,10573,0.93,221.9,497.3,8.1,510,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2311,1904
$GC,10883,0.97,221.9,471.6,8.5,525,10887,0.00,2.55,0.00,0.000,4,0.000,0.060,2560,3699,1904
$GC,10927,0.97,221.9,467.5,10.1,527,10932,0.00,2.42,0.00,0.000,6,0.000,0.027,2560,2296,1904
$GC,11249,1.02,221.9,441.6,7.8,543,11251,0.10,0.00,0.00,0.000,6,0.053,0.000,2591,2295,1904
$GC,11558,1.02,221.9,415.4,8.3,558,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,11867,1.02,221.9,390.4,7.9,573,11868,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,12176,1.02,221.9,366.1,8.0,588,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,12486,1.02,221.9,340.8,8.2,603,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,12795,1.02,221.9,315.9,8.1,618,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,13104,1.02,221.9,291.1,8.0,633,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,13413,1.02,221.9,266.5,8.0,648,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,13723,1.02,221.9,239.3,9.2,663,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,14032,1.02,221.9,212.8,8.6,678,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,14341,1.02,221.9,184.7,9.4,693,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,14651,1.02,221.9,155.3,9.6,708,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,14960,1.02,221.9,125.3,10.0,723,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,15269,1.02,221.9,95.4,9.5,738,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,15580,1.02,221.9,66.4,9.2,753,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2295,1904
$GC,15888,1.02,221.9,38.4,8.8,768,15892,0.00,2.58,0.00,0.000,4,0.000,0.055,2592,3703,1904
$GC,15943,0.95,221.9,33.2,9.4,770,15950,0.12,2.40,0.00,0.000,6,0.096,0.026,2568,2291,1904
$GC,16260,1.05,259.7,10.7,6.2,786,16299,0.00,0.00,32.35,0.572,6,0.000,0.000,2568,2289,1757
$STATE,16379,end climb,SURFACE_DEPTH_REACHED
$STATE,16379,begin surface coast
$FINISH,0.8,1.026638
$STATE,16423,end surface coast,CONTROL_FINISHED_OK
$STATE,16423,begin surface
$SM_CCo,16506,0.00,0.000,0,0,1749,261.74
$SM_GC,1.53,11.77,0.00,0.00,0.080,0.000,0.000,67,2606,1749,-10.46,0.20,261.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1768
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.4,49.5
$24V_AH,23.6,28.860
$10V_AH,10.1,14.394
$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,26.350,54.825,361.775,0.000,0.000,18.063,28.175,126.926,6.000,0.000,0.000,15.306,1377.337,13031.454,457.457,1523.499,399.514,0.000,1202.076,0.000,1489.975,0.000,42.807,0.000
$DEVICE_MAMPS,178.711,61.360,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.297,547.428,479.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41142,794
$CAP_FILE_SIZE,98230,0
$CFSIZE,260165632,249020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060709,114737,6354.081,-1302.327,30,1.3,30,-12.4