version: 66.04
glider: 16
mission: 13
dive: 168
start: 7 7 109 2 15 2
data:
$ID,16
$MISSION,13
$DIVE,168
$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,-2110600.2
$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,40
$R_STBD_OVSHOOT,24
$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
$GPS1,020737,6357.630,-1313.929,34,1.2,34,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-52.1
$GPS2,021444,6357.631,-1313.936,14,2.0,14,-12.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,1000.000
$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,301.1,13760,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,119,0.00,0.00,-99.95,0.000,2,0.000,0.000,76,2600,3357
$GC,123,-1.03,-146.6,5.4,-4.7,5,145,12.07,2.35,-0.93,0.000,4,0.189,0.070,2131,3854,3418
$GC,398,-0.98,-146.6,49.0,-11.6,17,402,0.00,2.15,0.00,0.000,6,0.000,0.025,2131,2580,3418
$GC,719,-0.98,-146.6,83.9,-10.1,33,723,0.00,2.38,0.00,0.000,4,0.000,0.059,2131,3865,3418
$GC,774,-0.98,-146.6,89.8,-11.2,35,780,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2594,3418
$GC,1090,-0.98,-146.6,119.3,-9.2,51,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2594,3418
$GC,1400,-0.98,-146.6,149.2,-9.6,66,1405,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1214,3418
$GC,1444,-0.98,-146.6,153.7,-9.1,68,1448,0.00,2.42,0.00,0.000,6,0.000,0.034,2131,2600,3418
$GC,1766,-0.98,-146.6,184.3,-9.5,84,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,2075,-0.98,-146.6,214.2,-9.5,99,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,2384,-0.98,-146.6,243.8,-9.7,114,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,2693,-0.98,-146.6,273.4,-9.5,129,2698,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1213,3418
$GC,2749,-0.98,-146.6,278.8,-9.9,131,2755,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,3065,-0.98,-146.6,309.2,-9.7,147,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,3374,-0.98,-146.6,338.3,-9.3,162,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3683,-0.98,-146.6,368.6,-9.7,177,3687,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1214,3419
$GC,3727,-0.98,-146.6,372.8,-9.7,179,3731,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,4048,-0.98,-146.6,402.2,-9.2,195,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,4357,-0.98,-146.6,429.4,-8.7,210,4361,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1214,3417
$GC,4390,-0.98,-146.6,432.4,-9.0,211,4396,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3417
$GC,4706,-0.98,-146.6,460.5,-8.8,227,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,5014,-0.98,-146.6,488.3,-9.4,242,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,5324,-0.98,-146.6,517.1,-10.7,257,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3416
$GC,5633,-0.98,-146.6,554.6,-13.5,272,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,5942,-0.98,-146.6,586.8,-11.2,287,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3416
$GC,6252,-0.98,-146.6,621.3,-8.7,302,6256,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1219,3415
$GC,6319,-1.02,-146.6,625.5,-6.3,305,6323,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2605,3415
$GC,6640,-1.02,-146.6,644.7,-4.7,321,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3415
$GC,6950,-1.02,-146.6,658.4,-4.3,336,6955,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1220,3414
$GC,7042,-1.10,-146.6,665.2,-10.7,340,7046,0.00,2.42,0.00,0.000,6,0.000,0.038,2131,2600,3414
$GC,7366,-1.15,-146.6,690.6,-3.8,356,7370,0.00,2.35,0.00,0.000,4,0.000,0.074,2131,3858,3413
$GC,7473,-1.15,-146.6,701.5,-6.3,361,7477,0.00,2.12,0.00,0.000,6,0.000,0.031,2131,2613,3413
$GC,7807,-1.61,-146.6,712.3,0.1,377,7812,0.52,2.33,0.00,0.000,4,0.054,0.071,2006,3858,3412
$STATE,7884,end dive,NO_VERTICAL_VELOCITY
$STATE,7884,begin apogee
$GC,7893,-0.31,0.0,712.4,0.0,380,8026,1.30,0.00,128.50,1.049,6,0.078,0.000,2287,2299,2817
$STATE,8026,end apogee,CONTROL_FINISHED_OK
$STATE,8027,begin climb
$GC,8029,1.03,146.6,711.7,0.0,387,8168,1.38,2.72,130.12,1.032,4,0.078,0.065,2576,3708,2218
$GC,8187,0.95,157.0,706.1,7.1,393,8203,0.00,2.50,10.45,0.885,6,0.000,0.030,2576,2294,2177
$GC,8522,1.07,325.0,685.3,1.8,410,8680,0.00,2.72,150.27,1.025,4,0.000,0.064,2576,3700,1489
$GC,8716,1.16,325.0,674.6,10.7,419,8721,0.17,2.47,0.00,0.000,6,0.050,0.031,2623,2304,1486
$GC,9037,1.16,325.0,630.4,15.3,435,9042,0.00,2.58,0.00,0.000,4,0.000,0.052,2623,895,1479
$GC,9117,1.16,325.0,616.9,17.5,438,9123,0.00,2.50,0.00,0.000,6,0.000,0.035,2623,2306,1478
$GC,9432,1.16,325.0,565.3,14.6,454,9437,0.00,2.58,0.00,0.000,4,0.000,0.049,2623,894,1477
$GC,9483,1.16,325.0,558.5,12.6,456,9487,0.00,2.47,0.00,0.000,6,0.000,0.035,2623,2302,1476
$GC,9799,1.16,325.0,524.9,10.1,471,9803,0.00,2.58,0.00,0.000,4,0.000,0.050,2623,889,1475
$GC,9854,1.16,325.0,519.0,10.3,473,9860,0.00,2.50,0.00,0.000,6,0.000,0.035,2623,2306,1474
$GC,10170,1.16,325.0,487.5,11.4,489,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2307,1475
$GC,10479,1.16,325.0,451.6,11.4,504,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2307,1475
$GC,10788,1.16,325.0,417.1,11.6,519,10792,0.00,2.55,0.00,0.000,4,0.000,0.047,2623,888,1475
$GC,10860,1.16,325.0,408.3,12.0,522,10864,0.00,2.47,0.00,0.000,6,0.000,0.033,2623,2303,1474
$GC,11175,1.16,325.0,374.3,10.2,537,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2303,1474
$GC,11485,1.16,325.0,341.3,11.0,552,11489,0.00,2.53,0.00,0.000,4,0.000,0.044,2622,892,1474
$GC,11536,1.16,325.0,335.5,11.7,554,11540,0.00,2.47,0.00,0.000,6,0.000,0.033,2623,2310,1474
$GC,11857,1.16,325.0,299.8,10.7,570,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2311,1475
$GC,12166,1.16,325.0,264.8,11.5,585,12170,0.00,2.55,0.00,0.000,4,0.000,0.044,2623,887,1475
$GC,12250,1.16,325.0,254.7,12.0,589,12255,0.00,2.47,0.00,0.000,6,0.000,0.033,2623,2310,1473
$GC,12577,1.16,325.0,219.2,10.5,605,12581,0.00,2.53,0.00,0.000,4,0.000,0.043,2623,891,1475
$GC,12622,1.16,325.0,213.9,11.7,607,12626,0.00,2.45,0.00,0.000,6,0.000,0.031,2623,2301,1474
$GC,12943,1.16,325.0,177.3,11.5,623,12947,0.00,2.53,0.00,0.000,4,0.000,0.043,2623,887,1475
$GC,12982,1.16,325.0,172.7,11.0,625,12987,0.00,2.45,0.00,0.000,6,0.000,0.032,2623,2302,1475
$GC,13311,1.16,325.0,136.6,11.5,641,13315,0.00,2.53,0.00,0.000,4,0.000,0.043,2623,885,1475
$GC,13351,1.16,325.0,131.2,13.3,643,13355,0.00,2.45,0.00,0.000,6,0.000,0.032,2623,2299,1475
$GC,13678,1.16,325.0,86.4,11.7,659,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2300,1475
$GC,13987,1.16,325.0,55.2,10.8,674,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2299,1475
$GC,14296,1.16,325.0,20.8,11.4,689,14301,0.00,2.50,0.00,0.000,4,0.000,0.041,2623,889,1476
$GC,14382,1.16,325.0,11.1,11.9,693,14386,0.00,2.45,0.00,0.000,6,0.000,0.031,2623,2304,1475
$STATE,14459,end climb,SURFACE_DEPTH_REACHED
$STATE,14459,begin surface coast
$FINISH,0.8,1.026643
$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14481,begin surface
$SM_CCo,14564,0.00,0.000,0,0,1473,329.68
$SM_GC,1.54,12.45,0.00,0.00,0.101,0.000,0.000,80,2600,1473,-10.45,-0.03,329.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1765
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.8,47.7
$24V_AH,23.6,29.407
$10V_AH,10.1,14.688
$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,27.900,108.700,419.350,0.000,0.000,18.003,26.854,265.006,5.750,0.000,0.000,14.194,1280.438,11065.913,521.130,1572.934,550.745,0.000,1330.036,0.000,1530.852,0.000,39.851,0.000
$DEVICE_MAMPS,189.449,73.632,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.855,475.331,418.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34848,698
$CAP_FILE_SIZE,106817,0
$CFSIZE,260165632,248799232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070709,061901,6358.318,-1319.601,39,1.5,39,-12.6