version: 66.04
glider: 16
mission: 13
dive: 169
start: 7 7 109 6 24 30
data:
$ID,16
$MISSION,13
$DIVE,169
$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,-2110635.8
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,061901,6358.318,-1319.601,39,1.5,39,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.9
$GPS2,062413,6358.337,-1319.554,17,2.0,34,-12.6
$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,302.6,9023,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.95,0.000,2,0.000,0.000,79,2601,3175
$GC,81,-1.03,-146.6,4.2,-6.2,3,104,11.93,2.33,-4.38,0.000,4,0.186,0.073,2131,3865,3414
$GC,312,-0.98,-146.6,40.6,-13.4,13,316,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2566,3416
$GC,639,-0.98,-146.6,74.7,-9.7,29,643,0.00,2.40,0.00,0.000,4,0.000,0.060,2131,3868,3417
$GC,711,-0.98,-146.6,83.3,-12.2,32,715,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2597,3417
$GC,1033,-0.98,-146.6,118.2,-9.3,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2594,3417
$GC,1342,-0.98,-146.6,145.1,-8.7,63,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,1651,-0.98,-146.6,171.7,-8.4,78,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,1961,-0.98,-146.6,197.8,-9.0,93,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,2270,-0.98,-146.6,226.3,-9.4,108,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,2579,-0.98,-146.6,257.4,-10.1,123,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2593,3417
$GC,2888,-0.98,-146.6,288.0,-9.3,138,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,3197,-0.98,-146.6,314.6,-8.1,153,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3417
$GC,3507,-0.98,-146.6,337.9,-7.1,168,3511,0.00,2.40,0.00,0.000,4,0.000,0.038,2132,1214,3417
$GC,3558,-0.98,-146.6,341.7,-7.1,170,3562,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2603,3417
$GC,3885,-0.98,-146.6,370.7,-9.6,186,3889,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1215,3417
$GC,3969,-0.98,-146.6,378.6,-10.2,190,3973,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3417
$GC,4296,-0.98,-146.6,411.3,-9.5,206,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3417
$GC,4605,-0.98,-146.6,436.6,-8.2,221,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3417
$GC,4915,-0.98,-146.6,463.9,-10.0,236,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3416
$GC,5224,-1.03,-146.6,485.9,-8.0,251,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3415
$GC,5533,-1.03,-146.6,505.0,-9.8,266,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3415
$GC,5843,-1.03,-146.6,520.0,-6.7,281,5847,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1218,3414
$GC,5933,-1.03,-146.6,525.9,-4.8,285,5938,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2603,3414
$GC,6261,-1.03,-146.6,552.2,-7.9,301,6265,0.00,2.33,0.00,0.000,4,0.000,0.068,2131,3857,3414
$GC,6310,-1.03,-146.6,557.1,-8.2,303,6314,0.00,2.12,0.00,0.000,6,0.000,0.027,2131,2596,3414
$GC,6631,-1.03,-146.6,582.6,-10.4,319,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3413
$GC,6941,-1.03,-146.6,614.1,-8.5,334,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2593,3413
$STATE,7165,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7165,begin apogee
$GC,7172,-0.31,0.0,636.0,9.9,345,7302,0.77,0.00,126.57,1.003,6,0.098,0.000,2288,2299,2817
$STATE,7303,end apogee,CONTROL_FINISHED_OK
$STATE,7303,begin climb
$GC,7306,1.03,146.6,641.0,0.0,351,7439,1.40,0.00,129.45,0.989,6,0.081,0.000,2579,2300,2219
$GC,7744,0.95,186.6,624.0,6.1,373,7787,0.00,2.67,35.70,0.956,4,0.000,0.061,2580,3701,2055
$GC,7849,0.88,186.6,616.9,7.8,377,7856,0.15,2.42,0.00,0.000,6,0.109,0.029,2553,2314,2053
$GC,8165,0.89,197.5,593.8,7.1,393,8180,0.00,2.60,10.23,0.847,4,0.000,0.049,2554,900,2010
$GC,8220,0.90,205.1,590.2,7.2,394,8234,0.00,2.50,8.07,0.802,6,0.000,0.035,2553,2310,1981
$GC,8558,0.90,205.1,566.7,8.0,411,8562,0.00,2.55,0.00,0.000,4,0.000,0.048,2553,902,1978
$GC,8620,0.92,226.6,561.4,6.8,414,8646,0.00,2.47,20.95,0.909,6,0.000,0.035,2553,2306,1893
$GC,8970,1.00,247.0,538.6,6.8,431,8993,0.12,0.00,19.83,0.894,6,0.058,0.000,2586,2306,1809
$GC,9297,1.00,247.0,513.3,7.8,447,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2306,1803
$GC,9606,1.00,247.0,488.9,8.2,462,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2306,1803
$GC,9915,1.00,247.0,463.3,8.4,477,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2306,1803
$GC,10224,1.00,247.0,438.2,8.1,492,10229,0.00,2.53,0.00,0.000,4,0.000,0.047,2586,897,1802
$GC,10359,1.00,247.0,425.9,9.7,498,10363,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2308,1801
$GC,10680,1.00,247.0,391.8,11.3,514,10684,0.00,2.53,0.00,0.000,4,0.000,0.047,2586,902,1801
$GC,10764,1.00,247.0,382.8,9.9,518,10768,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2304,1800
$GC,11090,0.94,247.0,352.7,9.5,534,11095,0.12,2.50,0.00,0.000,4,0.105,0.038,2562,892,1801
$GC,11180,1.02,247.0,342.8,10.6,538,11185,0.00,2.47,0.00,0.000,6,0.000,0.034,2562,2307,1800
$GC,11501,1.08,247.0,314.7,8.9,554,11503,0.15,0.00,0.00,0.000,6,0.049,0.000,2600,2307,1801
$GC,11810,1.08,247.0,281.7,10.7,569,11815,0.00,2.53,0.00,0.000,4,0.000,0.044,2600,894,1801
$GC,11860,1.08,247.0,276.1,11.1,571,11865,0.00,2.45,0.00,0.000,6,0.000,0.033,2601,2302,1800
$GC,12176,1.08,247.0,244.0,10.6,586,12180,0.00,2.50,0.00,0.000,4,0.000,0.044,2601,898,1801
$GC,12245,1.08,247.0,236.0,11.4,589,12249,0.00,2.45,0.00,0.000,6,0.000,0.033,2601,2305,1800
$GC,12571,1.08,247.0,200.4,9.7,605,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2305,1801
$GC,12880,1.08,247.0,172.3,9.3,620,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2305,1801
$GC,13190,1.08,247.0,141.4,10.4,635,13194,0.00,2.50,0.00,0.000,4,0.000,0.042,2601,897,1801
$GC,13234,1.08,247.0,136.7,10.7,637,13238,0.00,2.45,0.00,0.000,6,0.000,0.032,2601,2309,1801
$GC,13555,1.08,247.0,105.5,9.6,653,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2309,1801
$GC,13864,1.08,247.0,75.9,9.5,668,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2309,1801
$GC,14173,1.08,247.0,45.9,9.9,683,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2309,1801
$GC,14482,1.08,247.0,17.1,8.4,698,14487,0.00,2.50,0.00,0.000,4,0.000,0.041,2600,898,1801
$GC,14591,1.08,247.0,7.8,9.9,703,14595,0.00,2.42,0.00,0.000,6,0.000,0.032,2601,2300,1801
$STATE,14668,end climb,SURFACE_DEPTH_REACHED
$STATE,14668,begin surface coast
$FINISH,0.7,1.017656
$STATE,14710,end surface coast,CONTROL_FINISHED_OK
$STATE,14711,begin surface
$SM_CCo,14734,-0.12,0.000,0,0,1798,250.21
$SM_GC,2.36,0.00,0.00,-0.12,0.000,0.000,0.000,70,2605,1798,-10.53,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1771
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.6,17.9
$24V_AH,23.6,29.514
$10V_AH,10.1,14.755
$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,26.925,78.950,350.800,0.000,0.000,18.025,31.006,127.200,5.500,0.000,0.000,34.842,1280.446,11390.360,451.476,1524.196,403.777,0.000,1179.233,0.000,1470.657,0.000,39.410,0.000
$DEVICE_MAMPS,186.381,72.865,1003.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.537,483.712,442.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34893,709
$CAP_FILE_SIZE,98014,0
$CFSIZE,260165632,248762368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070709,103130,6400.660,-1320.752,46,1.7,46,-12.6