version: 66.04
glider: 16
mission: 13
dive: 166
start: 7 6 109 16 36 37
data:
$ID,16
$MISSION,13
$DIVE,166
$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,-2110572.8
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,162800,6354.114,-1308.920,39,1.6,44,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.6
$GPS2,163620,6354.054,-1309.009,14,1.2,14,-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,315.4,20290,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,73,0.00,0.00,-54.97,0.000,6,0.000,0.000,75,2610,3416
$GC,76,-1.03,-146.6,6.2,-9.4,3,98,11.77,2.30,0.00,0.000,4,0.179,0.056,2132,3846,3418
$GC,305,-1.03,-146.6,45.0,-10.9,13,309,0.00,2.12,0.00,0.000,6,0.000,0.026,2132,2580,3419
$GC,633,-1.03,-146.6,80.1,-11.0,29,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,942,-1.03,-146.6,115.4,-11.8,44,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,1253,-1.03,-146.6,148.6,-9.9,59,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,1560,-1.03,-146.6,179.1,-10.3,74,1564,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1208,3419
$GC,1600,-1.03,-146.6,182.8,-9.2,76,1604,0.00,2.40,0.00,0.000,6,0.000,0.034,2132,2588,3419
$GC,1927,-1.03,-146.6,210.9,-8.7,92,1931,0.00,2.33,0.00,0.000,4,0.000,0.063,2132,3858,3419
$GC,1971,-1.03,-146.6,215.3,-9.6,94,1975,0.00,2.10,0.00,0.000,6,0.000,0.025,2132,2597,3419
$GC,2298,-1.03,-146.6,242.9,-8.6,110,2302,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1206,3419
$GC,2337,-1.03,-146.6,246.4,-8.2,111,2343,0.00,2.42,0.00,0.000,6,0.000,0.034,2132,2600,3418
$GC,2652,-1.03,-146.6,274.3,-9.2,127,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,2962,-1.03,-146.6,302.2,-8.7,142,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3271,-1.03,-146.6,327.3,-7.9,157,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,3580,-1.03,-146.6,354.1,-8.9,172,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,3889,-1.03,-146.6,384.0,-10.2,187,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4199,-1.03,-146.6,414.9,-9.8,202,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4508,-1.03,-146.6,445.6,-9.5,217,4512,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1212,3418
$GC,4559,-1.07,-146.6,450.1,-8.3,219,4563,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2602,3418
$GC,4874,-1.07,-146.6,478.1,-8.7,234,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,5183,-1.07,-146.6,506.7,-9.4,249,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,5492,-1.07,-146.6,537.3,-9.7,264,5497,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1211,3417
$GC,5543,-1.07,-146.6,542.1,-9.2,266,5547,0.00,2.42,0.00,0.000,6,0.000,0.035,2132,2607,3418
$GC,5864,-1.07,-146.6,572.9,-9.5,282,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3417
$GC,6173,-1.07,-146.6,599.3,-8.1,297,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3418
$GC,6483,-1.07,-146.6,621.1,-6.7,312,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3417
$GC,6792,-1.07,-146.6,648.1,-9.5,327,6796,0.00,2.42,0.00,0.000,4,0.000,0.038,2132,1218,3417
$GC,6847,-1.14,-146.6,653.4,-10.0,329,6853,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2608,3417
$GC,7163,-1.14,-146.6,681.3,-8.7,345,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3417
$GC,7472,-1.14,-146.6,709.7,-9.2,360,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3416
$GC,7782,-1.14,-146.6,735.2,-7.9,375,7786,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1209,3416
$GC,7872,-1.20,-146.6,742.0,-7.0,379,7877,0.15,2.45,0.00,0.000,6,0.044,0.037,2087,2607,3416
$STATE,8108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8108,begin apogee
$GC,8116,-0.31,0.0,765.6,10.2,391,8251,1.05,0.00,129.75,1.074,6,0.121,0.000,2291,2296,2817
$STATE,8251,end apogee,CONTROL_FINISHED_OK
$STATE,8251,begin climb
$GC,8254,1.03,146.6,770.3,0.0,398,8393,1.35,2.70,130.85,1.062,4,0.073,0.063,2579,3705,2218
$GC,8442,0.88,146.6,763.8,7.5,406,8447,0.15,2.42,0.00,0.000,6,0.095,0.028,2551,2319,2216
$GC,8769,0.91,175.4,741.4,6.5,422,8803,0.00,2.62,26.67,1.003,4,0.000,0.049,2551,901,2098
$GC,8901,0.92,186.0,731.7,7.1,428,8916,0.00,2.47,10.27,0.900,6,0.000,0.035,2551,2310,2058
$GC,9227,0.92,186.0,707.2,7.8,443,9231,0.00,2.53,0.00,0.000,4,0.000,0.047,2551,901,2054
$GC,9270,0.92,186.0,703.8,7.6,445,9274,0.00,2.45,0.00,0.000,6,0.000,0.035,2551,2299,2053
$GC,9598,0.92,186.2,680.2,7.5,461,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2299,2053
$GC,9907,0.92,186.2,655.6,8.4,476,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2300,2053
$GC,10216,0.93,195.6,631.8,7.2,491,10230,0.00,2.55,9.23,0.853,4,0.000,0.047,2551,901,2018
$GC,10322,0.93,195.6,623.3,8.5,495,10328,0.00,2.47,0.00,0.000,6,0.000,0.035,2551,2309,2017
$GC,10638,0.93,196.8,598.3,7.5,511,10642,0.00,2.58,0.00,0.000,4,0.000,0.062,2551,3704,2017
$GC,10727,0.93,196.8,591.1,8.0,515,10731,0.00,2.42,0.00,0.000,6,0.000,0.028,2551,2299,2017
$GC,11049,1.03,240.5,570.7,6.0,531,11095,0.15,0.00,42.80,0.941,6,0.049,0.000,2594,2297,1836
$GC,11397,1.03,240.5,541.2,8.8,548,11401,0.00,2.50,0.00,0.000,4,0.000,0.049,2594,901,1829
$GC,11453,1.03,240.5,536.2,9.5,550,11457,0.00,2.45,0.00,0.000,6,0.000,0.034,2594,2300,1828
$GC,11769,0.98,240.5,510.7,7.8,565,11770,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2300,1828
$GC,12078,0.94,240.5,486.5,7.9,580,12080,0.15,0.00,0.00,0.000,6,0.092,0.000,2565,2300,1828
$GC,12388,1.00,253.6,465.6,7.1,595,12406,0.00,0.00,12.07,0.795,6,0.000,0.000,2565,2300,1782
$GC,12717,1.06,261.2,441.8,7.2,611,12728,0.12,0.00,8.23,0.729,6,0.051,0.000,2603,2300,1752
$GC,13026,1.06,261.2,411.2,10.5,626,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1749
$GC,13334,1.06,261.2,375.7,11.8,641,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,1749
$GC,13644,1.06,261.2,340.5,11.0,656,13648,0.00,2.47,0.00,0.000,4,0.000,0.043,2604,898,1750
$GC,13689,1.06,261.2,335.4,10.8,658,13693,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2307,1748
$GC,14021,1.06,261.2,302.3,9.6,674,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2307,1748
$GC,14330,1.06,261.2,273.7,9.3,689,14334,0.00,2.50,0.00,0.000,4,0.000,0.042,2604,898,1748
$GC,14387,1.06,261.2,268.1,10.4,691,14393,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2309,1748
$GC,14702,1.06,261.2,235.1,11.7,707,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2309,1748
$GC,15011,1.06,261.2,195.8,12.8,722,15016,0.00,2.50,0.00,0.000,4,0.000,0.042,2604,895,1748
$GC,15051,1.06,261.2,190.7,12.2,724,15055,0.00,2.45,0.00,0.000,6,0.000,0.031,2604,2306,1748
$GC,15378,1.06,261.2,156.0,9.6,740,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2308,1748
$GC,15687,1.06,261.2,129.8,7.8,755,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2308,1748
$GC,15998,1.06,261.2,103.5,9.0,770,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2308,1748
$GC,16306,1.06,261.2,63.4,14.8,785,16307,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2308,1748
$GC,16615,1.06,261.2,25.5,10.0,800,16619,0.00,2.50,0.00,0.000,4,0.000,0.041,2604,894,1748
$GC,16687,1.06,261.2,17.8,10.9,803,16691,0.00,2.45,0.00,0.000,6,0.000,0.032,2604,2308,1748
$STATE,16855,end climb,SURFACE_DEPTH_REACHED
$STATE,16855,begin surface coast
$FINISH,0.7,1.022976
$STATE,16877,end surface coast,CONTROL_FINISHED_OK
$STATE,16877,begin surface
$SM_CCo,16962,0.00,0.000,0,0,1746,262.47
$SM_GC,1.64,12.10,0.00,0.00,0.091,0.000,0.000,81,2601,1746,-10.45,0.03,262.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1754
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,49.6
$24V_AH,23.6,29.100
$10V_AH,10.1,14.540
$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,27.000,88.900,369.875,0.000,0.000,36.523,71.701,206.192,6.500,0.000,0.000,14.376,1449.257,13315.563,452.348,1675.987,568.095,0.000,1281.612,0.000,1632.932,0.000,46.348,0.000
$DEVICE_MAMPS,178.711,62.894,1073.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.472,557.020,456.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41065,812
$CAP_FILE_SIZE,113016,0
$CFSIZE,260165632,248905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060709,212046,6356.692,-1310.789,42,1.7,51,-12.5