version: 66.04
glider: 16
mission: 13
dive: 124
start: 6 28 109 14 11 33
data:
$ID,16
$MISSION,13
$DIVE,124
$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,-2109808.2
$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,32
$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
$GPS1,140237,6358.597,-1323.321,40,0.9,40,-12.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.9
$GPS2,141113,6358.791,-1323.114,10,0.9,15,-12.6
$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,159.3,19488,-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,-61.75,0.000,2,0.000,0.000,73,2598,3386
$GC,82,-1.03,-146.6,5.6,-9.6,3,104,11.98,2.40,-0.52,0.000,4,0.186,0.071,2129,3866,3418
$GC,188,-1.03,-146.6,28.0,-11.0,7,195,0.00,2.17,0.00,0.000,6,0.000,0.027,2129,2579,3419
$GC,504,-1.03,-146.6,58.0,-9.5,23,509,0.00,2.42,0.00,0.000,4,0.000,0.039,2129,1206,3420
$GC,537,-1.03,-146.6,61.4,-9.0,24,544,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2600,3419
$GC,855,-1.03,-146.6,92.6,-10.0,40,859,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3861,3419
$GC,882,-1.03,-146.6,95.7,-10.7,41,886,0.00,2.15,0.00,0.000,6,0.000,0.027,2129,2587,3419
$GC,1198,-1.03,-146.6,127.6,-9.8,56,1202,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1214,3419
$GC,1231,-1.03,-146.6,131.1,-10.3,57,1237,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2607,3419
$GC,1546,-1.03,-146.6,160.7,-9.0,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3419
$GC,1856,-1.03,-146.6,186.1,-7.9,88,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3419
$GC,2165,-1.03,-146.6,211.0,-8.1,103,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2607,3419
$GC,2474,-1.03,-146.6,235.3,-7.8,118,2478,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1216,3419
$GC,2513,-1.03,-146.6,238.5,-8.0,120,2518,0.00,2.42,0.00,0.000,6,0.000,0.036,2129,2599,3419
$GC,2841,-1.03,-146.6,266.8,-9.5,136,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2598,3419
$GC,3150,-1.03,-146.6,296.8,-9.2,151,3154,0.00,2.35,0.00,0.000,4,0.000,0.068,2129,3864,3420
$GC,3218,-1.03,-146.6,303.2,-7.6,154,3222,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2603,3419
$GC,3545,-1.03,-146.6,335.8,-10.7,170,3549,0.00,2.35,0.00,0.000,4,0.000,0.066,2129,3864,3420
$GC,3584,-1.03,-146.6,339.7,-9.9,172,3588,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2591,3419
$GC,3917,-1.03,-146.6,373.6,-9.1,188,3921,0.00,2.38,0.00,0.000,4,0.000,0.067,2129,3863,3420
$GC,3979,-1.03,-146.6,378.9,-8.6,191,3983,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2600,3419
$GC,4312,-1.03,-146.6,403.9,-6.9,207,4316,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3863,3419
$GC,4430,-1.03,-146.6,410.7,-6.2,212,4434,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2599,3419
$GC,4752,-1.03,-146.6,430.6,-6.6,228,4756,0.00,2.35,0.00,0.000,4,0.000,0.068,2129,3857,3420
$GC,4841,-1.03,-146.6,442.2,-13.4,232,4845,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2586,3419
$GC,5168,-1.03,-146.6,471.5,-7.9,248,5172,0.00,2.38,0.00,0.000,4,0.000,0.070,2128,3857,3419
$GC,5257,-1.03,-146.6,479.9,-9.5,252,5261,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2592,3419
$GC,5584,-1.03,-146.6,507.2,-8.0,268,5588,0.00,2.45,0.00,0.000,4,0.000,0.045,2129,1214,3419
$GC,5628,-1.09,-146.6,510.6,-7.6,270,5632,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2603,3419
$GC,5950,-1.09,-146.6,535.8,-7.4,286,5954,0.00,2.35,0.00,0.000,4,0.000,0.073,2129,3858,3417
$GC,5994,-1.09,-146.6,539.5,-8.1,288,5998,0.00,2.15,0.00,0.000,6,0.000,0.030,2128,2596,3418
$GC,6321,-1.09,-146.6,563.1,-7.3,304,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3417
$GC,6631,-1.15,-146.6,595.2,-10.1,319,6635,0.00,2.47,0.00,0.000,4,0.000,0.046,2129,1206,3416
$GC,6665,-1.15,-146.6,597.5,-6.9,320,6672,0.00,2.45,0.00,0.000,6,0.000,0.039,2129,2602,3416
$GC,6981,-1.15,-146.6,620.0,-10.1,336,6985,0.00,2.38,0.00,0.000,4,0.000,0.076,2129,3861,3415
$GC,7084,-1.15,-146.6,630.9,-12.7,340,7090,0.00,2.15,0.00,0.000,6,0.000,0.033,2129,2603,3414
$GC,7400,-1.15,-146.6,662.5,-8.8,356,7404,0.00,2.50,0.00,0.000,4,0.000,0.046,2129,1204,3413
$STATE,7481,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7482,begin apogee
$GC,7491,-0.31,0.0,668.3,8.2,360,7624,0.80,0.00,129.05,1.039,6,0.098,0.000,2291,2303,2817
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7628,1.03,146.6,673.6,0.0,367,7766,1.38,2.72,130.20,1.027,4,0.079,0.069,2579,3702,2218
$GC,7815,0.85,180.3,676.0,6.3,375,7852,0.17,2.47,30.85,0.986,6,0.097,0.035,2546,2317,2081
$GC,8166,0.85,180.3,660.1,8.8,391,8170,0.00,2.62,0.00,0.000,4,0.000,0.069,2546,3703,2073
$GC,8423,0.78,180.3,634.9,7.9,402,8429,0.00,2.50,0.00,0.000,6,0.000,0.035,2546,2298,2071
$GC,8739,0.80,201.8,610.5,6.8,418,8764,0.00,2.67,18.73,0.947,4,0.000,0.055,2546,892,1992
$GC,8799,0.81,205.4,605.6,7.4,420,8809,0.00,2.53,5.07,0.714,6,0.000,0.038,2546,2307,1979
$GC,9137,0.81,205.4,579.9,7.5,437,9141,0.00,2.62,0.00,0.000,4,0.000,0.068,2546,3699,1976
$GC,9186,0.81,205.4,576.3,8.1,439,9191,0.00,2.47,0.00,0.000,6,0.000,0.033,2546,2297,1976
$GC,9502,0.81,205.4,549.5,9.2,454,9506,0.00,2.65,0.00,0.000,4,0.000,0.065,2546,3705,1974
$GC,9523,0.81,205.4,547.5,9.0,455,9527,0.00,2.47,0.00,0.000,6,0.000,0.031,2546,2298,1974
$GC,9844,0.83,230.1,522.9,6.7,471,9874,0.00,2.65,23.65,0.928,4,0.000,0.053,2546,900,1878
$GC,9898,0.91,254.2,519.5,6.7,473,9929,0.00,2.50,24.08,0.919,6,0.000,0.037,2546,2301,1779
$GC,10239,0.98,254.2,492.7,8.6,490,10244,0.12,2.62,0.00,0.000,4,0.055,0.063,2579,3705,1773
$GC,10306,0.90,254.2,484.5,12.8,493,10311,0.12,2.47,0.00,0.000,6,0.100,0.031,2556,2299,1773
$GC,10627,0.90,254.2,456.1,8.0,509,10631,0.00,2.65,0.00,0.000,4,0.000,0.064,2556,3708,1772
$GC,10660,0.90,254.2,453.5,7.7,510,10666,0.00,2.47,0.00,0.000,6,0.000,0.031,2556,2295,1771
$GC,10976,0.90,254.2,426.1,7.5,526,10981,0.00,2.62,0.00,0.000,4,0.000,0.061,2556,3709,1771
$GC,11032,0.90,254.2,420.7,9.4,528,11038,0.00,2.47,0.00,0.000,6,0.000,0.031,2556,2298,1771
$GC,11348,0.90,254.2,395.0,10.2,544,11352,0.00,2.62,0.00,0.000,4,0.000,0.061,2555,3707,1771
$GC,11370,0.98,260.1,393.3,7.3,545,11380,0.00,2.45,5.10,0.638,6,0.000,0.028,2556,2296,1756
$GC,11691,1.14,332.2,375.3,5.0,560,11767,0.20,2.72,67.45,0.849,4,0.048,0.058,2609,3701,1460
$GC,11796,1.14,332.2,364.0,12.4,565,11800,0.00,2.47,0.00,0.000,6,0.000,0.028,2609,2298,1457
$GC,12123,1.14,332.2,326.5,11.2,581,12127,0.00,2.53,0.00,0.000,4,0.000,0.048,2609,901,1451
$GC,12145,1.14,332.2,323.6,12.1,582,12150,0.00,2.47,0.00,0.000,6,0.000,0.034,2609,2306,1450
$GC,12467,1.14,332.2,287.1,10.6,598,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2306,1450
$GC,12776,1.14,332.2,253.2,11.3,613,12780,0.00,2.53,0.00,0.000,4,0.000,0.045,2609,899,1450
$GC,12808,1.14,332.2,249.3,11.2,614,12815,0.00,2.47,0.00,0.000,6,0.000,0.034,2609,2311,1448
$GC,13124,1.14,332.2,214.0,10.7,630,13128,0.00,2.55,0.00,0.000,4,0.000,0.044,2609,897,1449
$GC,13163,1.14,332.2,209.7,10.7,632,13168,0.00,2.45,0.00,0.000,6,0.000,0.034,2609,2301,1448
$GC,13490,1.14,332.2,176.3,9.9,648,13494,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,898,1449
$GC,13524,1.14,332.2,172.8,9.7,649,13530,0.00,2.45,0.00,0.000,6,0.000,0.033,2609,2301,1449
$GC,13842,1.14,332.2,142.0,9.8,665,13846,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,895,1449
$GC,13882,1.14,332.2,137.9,9.2,667,13886,0.00,2.45,0.00,0.000,6,0.000,0.034,2609,2302,1448
$GC,14209,1.14,332.2,107.4,9.2,683,14213,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,895,1449
$GC,14241,1.14,332.2,103.9,10.2,684,14248,0.00,2.45,0.00,0.000,6,0.000,0.033,2609,2302,1449
$GC,14557,1.14,332.2,72.9,10.1,700,14562,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,895,1449
$GC,14591,1.14,332.2,69.3,10.4,701,14598,0.00,2.45,0.00,0.000,6,0.000,0.033,2609,2306,1449
$GC,14908,1.14,332.2,37.9,9.9,717,14912,0.00,2.53,0.00,0.000,4,0.000,0.044,2609,898,1449
$GC,14929,1.14,332.2,35.4,10.0,718,14933,0.00,2.42,0.00,0.000,6,0.000,0.033,2609,2301,1449
$STATE,15254,end climb,SURFACE_DEPTH_REACHED
$STATE,15254,begin surface coast
$FINISH,0.7,1.003622
$STATE,15277,end surface coast,CONTROL_FINISHED_OK
$STATE,15277,begin surface
$SM_CCo,15361,0.00,0.000,0,0,1447,335.82
$SM_GC,1.64,12.05,0.00,0.00,0.085,0.000,0.000,71,2614,1447,-10.47,0.40,335.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1743
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.1,53.1
$24V_AH,23.6,23.051
$10V_AH,10.1,11.380
$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,26.825,170.875,434.175,0.000,0.000,51.272,66.664,217.748,5.500,0.000,0.000,15.565,1399.217,11586.610,539.065,1755.578,599.113,0.000,1465.472,0.000,1702.614,0.000,39.856,0.000
$DEVICE_MAMPS,185.614,75.933,1039.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.076,499.944,448.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,735
$CAP_FILE_SIZE,124655,0
$CFSIZE,260165632,251318272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280609,182854,6357.585,-1321.818,26,1.2,44,-12.6