version: 66.04
glider: 16
mission: 13
dive: 123
start: 6 28 109 10 8 8
data:
$ID,16
$MISSION,13
$DIVE,123
$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,-2109792
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,100254,6358.898,-1326.677,35,1.7,35,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.7
$GPS2,100750,6358.881,-1326.780,16,1.7,16,-12.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$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,152.9,21409,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-57.75,0.000,6,0.000,0.000,71,2609,3416
$GC,82,-1.03,-146.6,7.2,-12.9,3,104,11.90,2.35,0.00,0.000,4,0.183,0.058,2131,3865,3417
$GC,357,-1.03,-146.6,45.6,-9.8,15,361,0.00,2.17,0.00,0.000,6,0.000,0.027,2131,2582,3417
$GC,678,-1.03,-146.6,77.2,-10.1,31,682,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1205,3418
$GC,705,-1.03,-146.6,80.2,-10.6,32,709,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2597,3418
$GC,1022,-1.03,-146.6,108.7,-8.9,47,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2597,3418
$GC,1330,-1.03,-146.6,139.6,-10.0,62,1334,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1208,3419
$GC,1374,-1.03,-146.6,144.0,-9.9,64,1378,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2599,3419
$GC,1695,-1.03,-146.6,174.4,-9.6,80,1699,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1208,3419
$GC,1734,-1.03,-146.6,178.1,-9.3,82,1738,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2603,3419
$GC,2066,-1.03,-146.6,207.3,-8.0,98,2070,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1211,3419
$GC,2093,-1.03,-146.6,210.0,-10.3,99,2097,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2606,3419
$GC,2408,-1.03,-146.6,246.4,-11.9,114,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,2718,-1.03,-146.6,277.0,-9.1,129,2722,0.00,2.47,0.00,0.000,4,0.000,0.039,2131,1202,3419
$GC,2797,-1.07,-146.6,283.5,-7.6,132,2803,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2609,3419
$GC,3113,-1.07,-146.6,306.6,-6.6,148,3117,0.00,2.33,0.00,0.000,4,0.000,0.068,2131,3862,3418
$GC,3198,-1.07,-146.6,312.8,-7.3,152,3202,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2590,3418
$GC,3531,-1.07,-146.6,334.0,-6.9,168,3535,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1212,3419
$GC,3570,-1.13,-146.6,337.2,-8.1,170,3575,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2605,3419
$GC,3898,-1.13,-146.6,366.7,-10.0,186,3902,0.00,2.33,0.00,0.000,4,0.000,0.070,2131,3857,3418
$GC,4037,-1.13,-146.6,380.5,-9.3,192,4041,0.00,2.15,0.00,0.000,6,0.000,0.029,2131,2592,3418
$GC,4358,-1.13,-146.6,410.5,-9.6,208,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3418
$GC,4668,-1.13,-146.6,437.8,-6.7,223,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3418
$GC,4977,-1.13,-146.6,460.6,-8.7,238,4981,0.00,2.45,0.00,0.000,4,0.000,0.044,2131,1211,3416
$GC,5027,-1.20,-146.6,464.7,-7.7,240,5032,0.15,2.45,0.00,0.000,6,0.047,0.039,2089,2598,3416
$GC,5344,-1.09,-146.6,501.8,-12.5,255,5349,0.17,2.38,0.00,0.000,4,0.105,0.073,2121,3864,3415
$GC,5366,-1.04,-146.6,504.8,-12.5,256,5370,0.00,2.15,0.00,0.000,6,0.000,0.030,2120,2600,3415
$GC,5693,-1.04,-146.6,535.4,-9.7,272,5697,0.00,2.35,0.00,0.000,4,0.000,0.069,2120,3864,3414
$GC,5761,-1.04,-146.6,540.5,-6.9,275,5765,0.00,2.15,0.00,0.000,6,0.000,0.031,2120,2608,3414
$GC,6094,-1.04,-146.6,573.0,-11.2,291,6098,0.00,2.50,0.00,0.000,4,0.000,0.047,2120,1206,3413
$GC,6166,-1.04,-146.6,580.8,-11.2,294,6170,0.00,2.45,0.00,0.000,6,0.000,0.040,2120,2600,3413
$GC,6488,-1.04,-146.6,618.1,-11.8,310,6492,0.00,2.38,0.00,0.000,4,0.000,0.077,2120,3857,3412
$GC,6551,-0.99,-146.6,628.3,-19.9,313,6555,0.12,2.17,0.00,0.000,6,0.105,0.031,2143,2589,3412
$GC,6878,-1.04,-146.6,649.3,-7.0,329,6882,0.00,2.47,0.00,0.000,4,0.000,0.049,2143,1208,3411
$GC,6941,-1.14,-146.6,654.2,-8.4,332,6946,0.15,2.47,0.00,0.000,6,0.050,0.044,2101,2598,3411
$STATE,7079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7079,begin apogee
$GC,7086,-0.31,0.0,671.4,11.7,339,7222,0.98,0.00,128.98,1.049,6,0.122,0.000,2289,2302,2816
$STATE,7223,end apogee,CONTROL_FINISHED_OK
$STATE,7223,begin climb
$GC,7226,1.03,146.6,678.5,0.0,346,7365,1.38,2.60,130.52,1.035,4,0.081,0.050,2577,909,2219
$GC,7407,0.94,180.8,675.9,6.3,353,7443,0.00,2.50,31.48,0.994,6,0.000,0.038,2577,2304,2080
$GC,7763,0.94,233.9,644.2,5.7,371,7818,0.00,2.75,48.28,0.996,4,0.000,0.067,2577,3701,1863
$GC,7858,0.89,233.9,635.8,11.1,375,7863,0.12,2.47,0.00,0.000,6,0.100,0.032,2554,2309,1861
$GC,8174,0.89,233.9,604.8,9.9,390,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2309,1857
$GC,8483,0.91,251.1,582.9,6.9,405,8506,0.00,2.70,16.42,0.921,4,0.000,0.068,2554,3707,1792
$GC,8539,0.91,251.1,576.6,12.4,407,8544,0.00,2.53,0.00,0.000,6,0.000,0.034,2554,2295,1791
$GC,8856,0.97,251.1,545.8,9.2,422,8860,0.00,2.55,0.00,0.000,4,0.000,0.054,2554,897,1788
$GC,8899,0.97,251.1,540.9,10.9,424,8903,0.00,2.47,0.00,0.000,6,0.000,0.039,2554,2304,1787
$GC,9227,1.04,251.1,505.9,10.6,440,9232,0.15,2.62,0.00,0.000,4,0.055,0.066,2594,3701,1787
$GC,9267,0.93,251.1,500.8,15.0,442,9272,0.17,2.47,0.00,0.000,6,0.104,0.031,2562,2294,1787
$GC,9594,0.97,251.1,467.8,9.4,458,9598,0.00,2.55,0.00,0.000,4,0.000,0.053,2562,894,1786
$GC,9643,0.97,251.1,462.3,11.7,460,9647,0.00,2.50,0.00,0.000,6,0.000,0.037,2562,2307,1784
$GC,9959,1.02,251.1,427.2,12.1,475,9964,0.00,2.60,0.00,0.000,4,0.000,0.064,2562,3701,1784
$GC,10031,1.02,251.1,418.7,11.4,478,10035,0.00,2.47,0.00,0.000,6,0.000,0.031,2562,2292,1785
$GC,10347,1.02,251.1,385.8,9.4,493,10351,0.00,2.62,0.00,0.000,4,0.000,0.061,2562,3702,1785
$GC,10402,1.02,251.1,380.3,9.0,495,10409,0.00,2.45,0.00,0.000,6,0.000,0.030,2562,2296,1785
$GC,10719,1.10,276.5,354.0,6.6,511,10749,0.17,2.60,23.52,0.821,4,0.048,0.045,2611,901,1688
$GC,10772,1.07,296.9,351.5,6.8,513,10797,0.00,2.50,19.90,0.804,6,0.000,0.035,2612,2308,1606
$GC,11110,1.01,296.9,321.7,11.2,529,11115,0.17,2.60,0.00,0.000,4,0.093,0.060,2574,3709,1601
$GC,11143,1.01,296.9,318.0,9.3,530,11150,0.00,2.47,0.00,0.000,6,0.000,0.030,2574,2297,1601
$GC,11460,1.05,296.9,288.5,9.9,546,11464,0.00,2.60,0.00,0.000,4,0.000,0.058,2574,3702,1600
$GC,11492,1.05,296.9,284.8,10.9,547,11499,0.00,2.45,0.00,0.000,6,0.000,0.028,2574,2298,1600
$GC,11808,1.10,296.9,249.5,11.6,563,11813,0.12,2.53,0.00,0.000,4,0.051,0.046,2612,891,1600
$GC,11836,1.10,296.9,245.7,14.3,564,11840,0.00,2.47,0.00,0.000,6,0.000,0.033,2612,2305,1599
$GC,12152,1.04,296.9,204.0,12.9,579,12157,0.12,2.53,0.00,0.000,4,0.094,0.044,2588,898,1599
$GC,12173,1.04,296.9,201.4,10.9,580,12177,0.00,2.45,0.00,0.000,6,0.000,0.033,2588,2301,1599
$GC,12495,1.04,296.9,166.2,11.0,596,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2301,1599
$GC,12805,1.04,296.9,129.3,12.4,611,12810,0.00,2.53,0.00,0.000,4,0.000,0.044,2588,891,1600
$GC,12846,1.04,296.9,124.1,13.0,613,12850,0.00,2.47,0.00,0.000,6,0.000,0.034,2588,2309,1600
$GC,13173,1.04,296.9,83.4,12.5,629,13177,0.00,2.53,0.00,0.000,4,0.000,0.044,2588,895,1599
$GC,13212,1.04,296.9,78.4,12.3,631,13217,0.00,2.45,0.00,0.000,6,0.000,0.033,2588,2302,1599
$GC,13540,1.04,296.9,39.7,12.3,647,13544,0.00,2.50,0.00,0.000,4,0.000,0.043,2588,899,1599
$GC,13604,1.09,296.9,32.0,11.4,650,13608,0.00,2.45,0.00,0.000,6,0.000,0.033,2588,2306,1600
$STATE,13888,end climb,SURFACE_DEPTH_REACHED
$STATE,13888,begin surface coast
$FINISH,0.8,1.026656
$STATE,13909,end surface coast,CONTROL_FINISHED_OK
$STATE,13909,begin surface
$SM_CCo,13993,0.00,0.000,0,0,1598,299.02
$SM_GC,1.74,12.12,0.00,0.00,0.093,0.000,0.000,74,2597,1598,-10.47,-0.08,299.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1758
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.8,78.7
$24V_AH,23.6,22.911
$10V_AH,10.1,11.306
$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,28.025,153.225,399.100,0.000,0.000,18.044,28.187,133.245,5.500,0.000,0.000,16.866,1289.209,10483.268,490.343,1604.191,423.666,0.000,1334.788,0.000,1556.801,0.000,38.019,0.000
$DEVICE_MAMPS,183.313,77.467,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.492,454.005,408.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34850,665
$CAP_FILE_SIZE,115083,0
$CFSIZE,260165632,251387904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280609,140237,6358.597,-1323.321,40,0.9,40,-12.6