version: 66.04
glider: 16
mission: 13
dive: 121
start: 6 28 109 1 53 29
data:
$ID,16
$MISSION,13
$DIVE,121
$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,-2109760.8
$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,41
$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
$GPS1,014436,6357.667,-1315.503,40,1.6,46,-12.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.6
$GPS2,015313,6357.807,-1315.203,12,1.6,17,-12.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5001.000
$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,301.3,12681,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,2,0.000,0.000,75,2596,3207
$GC,82,-1.03,-146.6,4.7,-7.8,3,104,12.07,2.35,-3.67,0.000,4,0.190,0.076,2129,3865,3415
$GC,335,-1.03,-146.6,40.2,-10.8,14,339,0.00,2.17,0.00,0.000,6,0.000,0.027,2129,2582,3416
$GC,657,-1.03,-146.6,75.0,-11.7,30,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3416
$GC,966,-1.03,-146.6,109.6,-10.8,45,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3417
$GC,1275,-1.03,-146.6,139.0,-9.5,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3417
$GC,1584,-1.03,-146.6,170.9,-11.1,75,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3417
$GC,1894,-1.03,-146.6,201.9,-9.5,90,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2579,3417
$GC,2202,-1.03,-146.6,231.3,-9.4,105,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3417
$GC,2511,-1.03,-146.6,259.1,-8.5,120,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2579,3417
$GC,2821,-1.03,-146.6,281.1,-6.3,135,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2579,3417
$GC,3131,-1.03,-146.6,302.3,-7.4,150,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2579,3417
$GC,3439,-1.03,-146.6,328.1,-8.5,165,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2579,3417
$GC,3748,-1.03,-146.6,352.2,-8.1,180,3753,0.00,2.40,0.00,0.000,4,0.000,0.040,2130,1213,3416
$GC,3805,-1.03,-146.6,356.1,-6.5,182,3811,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2609,3416
$GC,4120,-1.03,-146.6,377.4,-7.8,198,4124,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1205,3416
$GC,4169,-1.03,-146.6,382.1,-10.9,200,4174,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2601,3416
$GC,4485,-1.03,-146.6,423.0,-14.2,215,4489,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1212,3416
$GC,4541,-1.09,-146.6,431.4,-13.8,217,4547,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2607,3416
$GC,4857,-1.09,-146.6,466.4,-10.4,233,4861,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1203,3416
$GC,4907,-1.15,-146.6,471.1,-9.5,235,4911,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3416
$GC,5222,-1.15,-146.6,497.8,-8.2,250,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3415
$GC,5533,-1.15,-146.6,526.5,-10.4,265,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3415
$GC,5841,-1.15,-146.6,553.5,-8.5,280,5845,0.00,2.45,0.00,0.000,4,0.000,0.043,2129,1212,3415
$GC,5880,-1.21,-146.6,557.0,-9.1,281,5887,0.17,2.45,0.00,0.000,6,0.044,0.038,2081,2602,3415
$GC,6196,-1.11,-146.6,590.5,-11.1,297,6198,0.17,0.00,0.00,0.000,6,0.104,0.000,2113,2601,3415
$GC,6505,-1.11,-146.6,614.1,-11.0,312,6509,0.00,2.47,0.00,0.000,4,0.000,0.043,2113,1208,3414
$GC,6567,-1.11,-146.6,621.1,-9.0,315,6571,0.00,2.45,0.00,0.000,6,0.000,0.041,2112,2602,3414
$GC,6899,-1.11,-146.6,647.4,-10.4,331,6903,0.00,2.38,0.00,0.000,4,0.000,0.080,2113,3857,3412
$GC,6988,-1.11,-146.6,655.7,-8.3,335,6992,0.00,2.15,0.00,0.000,6,0.000,0.031,2113,2596,3412
$GC,7315,-1.11,-146.6,681.2,-4.8,351,7319,0.00,2.38,0.00,0.000,4,0.000,0.071,2114,3860,3411
$GC,7574,-1.40,-146.6,685.0,-0.8,362,7581,0.28,2.15,0.00,0.000,6,0.050,0.032,2048,2602,3411
$STATE,7599,end dive,NO_VERTICAL_VELOCITY
$STATE,7599,begin apogee
$GC,7606,-0.31,0.0,685.0,0.0,364,7741,1.15,0.00,128.12,1.044,6,0.083,0.000,2289,2306,2815
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7742,begin climb
$GC,7745,1.03,146.6,683.4,0.0,371,7883,1.33,2.65,129.82,1.021,4,0.052,0.054,2584,902,2218
$GC,7934,0.96,158.4,670.4,7.1,379,7951,0.00,2.53,11.35,0.888,6,0.000,0.040,2584,2305,2171
$GC,8260,0.94,254.4,641.7,4.2,395,8350,0.00,0.00,87.65,0.994,6,0.000,0.000,2584,2306,1779
$GC,8649,0.94,254.4,608.0,10.4,414,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2306,1769
$GC,8958,0.94,254.4,576.9,8.3,429,8962,0.00,2.55,0.00,0.000,4,0.000,0.050,2584,908,1767
$GC,9071,0.94,254.4,566.9,8.9,434,9076,0.00,2.50,0.00,0.000,6,0.000,0.040,2584,2308,1765
$GC,9397,0.94,254.4,535.7,10.2,450,9402,0.00,2.60,0.00,0.000,4,0.000,0.067,2584,3702,1764
$GC,9465,0.90,254.4,528.7,10.7,453,9470,0.15,2.45,0.00,0.000,6,0.113,0.032,2558,2306,1764
$GC,9786,0.96,265.3,504.2,7.1,469,9801,0.00,2.65,8.55,0.798,4,0.000,0.064,2557,3698,1734
$GC,9841,0.96,265.3,499.2,10.1,471,9845,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,2298,1733
$GC,10158,1.11,318.3,475.7,5.7,486,10214,0.20,2.58,50.50,0.906,4,0.057,0.050,2610,899,1518
$GC,10378,1.01,318.3,443.3,19.5,495,10383,0.15,2.50,0.00,0.000,6,0.095,0.038,2582,2307,1511
$GC,10699,1.01,318.3,394.6,16.7,511,10703,0.00,2.55,0.00,0.000,4,0.000,0.044,2582,890,1509
$GC,10762,1.07,318.3,385.8,15.2,514,10766,0.00,2.47,0.00,0.000,6,0.000,0.036,2582,2301,1508
$GC,11094,1.07,318.3,351.9,9.5,530,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1508
$GC,11404,1.11,318.3,323.3,10.3,545,11408,0.00,2.55,0.00,0.000,4,0.000,0.045,2582,889,1508
$GC,11454,1.17,318.3,318.4,8.3,547,11459,0.15,2.47,0.00,0.000,6,0.048,0.034,2624,2308,1506
$GC,11770,1.10,318.3,286.4,10.3,562,11775,0.12,2.55,0.00,0.000,4,0.099,0.044,2601,889,1507
$GC,11814,1.10,318.3,281.9,9.9,564,11819,0.00,2.47,0.00,0.000,6,0.000,0.034,2601,2302,1507
$GC,12135,1.10,318.3,249.3,10.8,580,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2302,1507
$GC,12445,1.10,318.3,215.2,10.9,595,12449,0.00,2.53,0.00,0.000,4,0.000,0.044,2601,893,1507
$GC,12507,1.10,318.3,208.2,11.1,598,12511,0.00,2.45,0.00,0.000,6,0.000,0.033,2601,2301,1507
$GC,12833,1.10,318.3,172.6,10.5,614,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2301,1507
$GC,13143,1.10,318.3,142.3,9.7,629,13147,0.00,2.53,0.00,0.000,4,0.000,0.044,2601,891,1507
$GC,13198,1.10,318.3,136.6,10.2,631,13205,0.00,2.45,0.00,0.000,6,0.000,0.033,2601,2305,1507
$GC,13514,1.10,318.3,102.4,11.7,647,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2305,1507
$GC,13823,1.10,318.3,65.6,10.5,662,13827,0.00,2.53,0.00,0.000,4,0.000,0.043,2601,892,1508
$GC,13864,1.10,318.3,61.8,9.0,664,13868,0.00,2.45,0.00,0.000,6,0.000,0.033,2601,2301,1508
$GC,14190,1.10,318.3,38.5,8.2,680,14195,0.00,2.50,0.00,0.000,4,0.000,0.043,2600,895,1508
$GC,14331,1.15,318.3,23.5,10.6,686,14335,0.00,2.42,0.00,0.000,6,0.000,0.033,2601,2298,1508
$STATE,14526,end climb,SURFACE_DEPTH_REACHED
$STATE,14526,begin surface coast
$FINISH,0.8,1.017087
$STATE,14548,end surface coast,CONTROL_FINISHED_OK
$STATE,14548,begin surface
$SM_CCo,14632,0.00,0.000,0,0,1506,321.59
$SM_GC,1.66,12.20,0.00,0.00,0.094,0.000,0.000,70,2597,1506,-10.47,-0.08,321.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1748
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.6,22.671
$10V_AH,10.1,11.172
$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,28.150,104.375,416.000,0.000,0.000,36.191,56.815,234.495,6.500,0.000,0.000,17.275,1290.079,11156.124,508.526,1626.397,565.422,0.000,1311.709,0.000,1575.915,0.000,45.663,0.000
$DEVICE_MAMPS,190.216,79.768,1043.887,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.102,475.097,429.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34808,697
$CAP_FILE_SIZE,109131,0
$CFSIZE,260165632,251502592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280609,055836,6358.831,-1319.117,39,0.9,39,-12.6