version: 66.04
glider: 16
mission: 13
dive: 125
start: 6 28 109 18 34 14
data:
$ID,16
$MISSION,13
$DIVE,125
$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,-2109821.5
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,182854,6357.585,-1321.818,26,1.2,44,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.6
$GPS2,183356,6357.594,-1321.689,12,1.5,12,-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,158.4,16998,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.85,0.000,2,0.000,0.000,71,2614,3167
$GC,84,-1.03,-146.6,4.6,-7.2,3,103,12.02,0.00,-4.47,0.000,6,0.183,0.000,2131,2614,3416
$GC,411,-1.03,-146.6,50.3,-11.1,19,415,0.00,2.30,0.00,0.000,4,0.000,0.064,2131,3854,3418
$GC,511,-0.99,-146.6,61.9,-10.8,23,518,0.00,2.17,0.00,0.000,6,0.000,0.026,2131,2582,3419
$GC,827,-0.99,-146.6,95.3,-10.8,39,831,0.00,2.40,0.00,0.000,4,0.000,0.039,2131,1219,3419
$GC,861,-0.99,-146.6,99.1,-10.7,40,867,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3419
$GC,1178,-0.99,-146.6,132.8,-10.5,56,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,1486,-0.99,-146.6,165.1,-10.2,71,1490,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1213,3420
$GC,1513,-0.99,-146.6,167.8,-9.6,72,1517,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2608,3420
$GC,1828,-0.99,-146.6,199.0,-10.0,87,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3419
$GC,2138,-0.99,-146.6,229.0,-9.2,102,2142,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1218,3420
$GC,2171,-0.99,-146.6,231.9,-8.6,103,2177,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2599,3420
$GC,2487,-0.99,-146.6,258.9,-8.3,119,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,2796,-0.99,-146.6,285.7,-8.9,134,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,3106,-0.99,-146.6,311.2,-8.0,149,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,3414,-0.99,-146.6,338.2,-9.3,164,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,3724,-0.99,-146.6,367.2,-9.4,179,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3420
$GC,4033,-0.99,-146.6,395.8,-8.9,194,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,4342,-0.99,-146.6,422.3,-8.8,209,4346,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1212,3419
$GC,4375,-0.99,-146.6,424.9,-7.9,210,4383,0.00,2.42,0.00,0.000,6,0.000,0.037,2131,2599,3420
$GC,4692,-0.99,-146.6,457.1,-11.2,226,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,5001,-0.99,-146.6,489.0,-10.0,241,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,5310,-0.99,-146.6,521.1,-10.3,256,5314,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1211,3419
$GC,5358,-1.07,-146.6,525.3,-9.2,258,5363,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2604,3419
$GC,5685,-1.07,-146.6,566.6,-11.4,274,5689,0.00,2.33,0.00,0.000,4,0.000,0.071,2131,3857,3419
$GC,5769,-1.07,-146.6,577.1,-11.9,278,5773,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2600,3418
$GC,6101,-1.07,-146.6,616.3,-12.7,294,6105,0.00,2.35,0.00,0.000,4,0.000,0.070,2131,3858,3418
$GC,6235,-1.07,-146.6,629.8,-9.2,300,6239,0.00,2.15,0.00,0.000,6,0.000,0.030,2131,2601,3418
$GC,6564,-1.12,-146.6,639.7,-0.8,316,6568,0.00,2.38,0.00,0.000,4,0.000,0.071,2131,3864,3418
$GC,6627,-1.16,-146.6,642.2,-4.1,319,6632,0.12,2.17,0.00,0.000,6,0.051,0.031,2095,2599,3418
$GC,6956,-1.10,-146.6,685.0,-20.6,335,6961,0.12,2.53,0.00,0.000,4,0.103,0.052,2118,1202,3417
$GC,7051,-1.16,-146.6,702.6,-22.1,339,7055,0.00,2.47,0.00,0.000,6,0.000,0.041,2118,2599,3416
$STATE,7075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7075,begin apogee
$GC,7082,-0.31,0.0,708.9,23.6,340,7218,0.85,0.00,130.23,1.047,6,0.108,0.000,2288,2293,2817
$STATE,7219,end apogee,CONTROL_FINISHED_OK
$STATE,7219,begin climb
$GC,7222,1.03,146.6,716.3,0.0,347,7360,1.40,2.72,130.07,1.037,4,0.084,0.069,2578,3702,2219
$GC,7432,1.25,477.6,717.4,-3.8,356,7734,0.25,2.47,293.40,1.034,6,0.047,0.034,2640,2306,868
$GC,8051,1.25,477.6,631.3,17.2,386,8055,0.00,2.62,0.00,0.000,4,0.000,0.059,2640,896,858
$GC,8158,1.30,477.6,614.2,12.9,391,8162,0.00,2.50,0.00,0.000,6,0.000,0.038,2640,2302,856
$GC,8484,1.30,477.6,579.5,11.6,407,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2302,855
$GC,8794,1.30,477.6,538.8,13.4,422,8798,0.00,2.58,0.00,0.000,4,0.000,0.051,2640,895,854
$GC,8838,1.30,477.6,533.3,12.8,424,8842,0.00,2.50,0.00,0.000,6,0.000,0.036,2640,2306,854
$GC,9159,1.30,477.6,490.9,14.2,440,9163,0.00,2.55,0.00,0.000,4,0.000,0.047,2640,896,853
$GC,9221,1.34,477.6,482.5,12.8,443,9226,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2302,853
$GC,9547,1.34,477.6,441.2,10.6,459,9552,0.00,2.55,0.00,0.000,4,0.000,0.045,2640,891,853
$GC,9620,1.39,477.6,432.1,12.2,462,9625,0.10,2.47,0.00,0.000,6,0.055,0.035,2672,2309,853
$GC,9936,1.31,477.6,386.0,14.4,477,9941,0.15,2.55,0.00,0.000,4,0.097,0.047,2643,896,852
$GC,9998,1.31,477.6,377.3,13.1,480,10002,0.00,2.47,0.00,0.000,6,0.000,0.034,2643,2309,852
$GC,10326,1.31,477.6,331.9,14.1,496,10330,0.00,2.55,0.00,0.000,4,0.000,0.045,2643,896,853
$GC,10392,1.31,477.6,322.1,13.8,499,10396,0.00,2.47,0.00,0.000,6,0.000,0.033,2643,2309,853
$GC,10712,1.31,477.6,280.2,13.6,515,10717,0.00,2.55,0.00,0.000,4,0.000,0.046,2643,895,853
$GC,10798,1.31,477.6,268.5,13.9,519,10802,0.00,2.45,0.00,0.000,6,0.000,0.034,2643,2301,853
$GC,11124,1.31,477.6,226.9,12.5,535,11128,0.00,2.53,0.00,0.000,4,0.000,0.046,2643,895,853
$GC,11201,1.31,477.6,217.1,11.8,538,11208,0.00,2.45,0.00,0.000,6,0.000,0.033,2643,2302,853
$GC,11517,1.31,477.6,180.3,11.5,554,11521,0.00,2.53,0.00,0.000,4,0.000,0.044,2643,895,853
$GC,11589,1.31,477.6,171.8,11.8,557,11593,0.00,2.45,0.00,0.000,6,0.000,0.033,2643,2299,853
$GC,11905,1.31,477.6,135.3,11.7,572,11909,0.00,2.53,0.00,0.000,4,0.000,0.045,2643,891,853
$GC,11983,1.31,477.6,126.3,10.7,575,11989,0.00,2.45,0.00,0.000,6,0.000,0.034,2643,2301,853
$GC,12298,1.31,477.6,91.0,11.3,591,12303,0.00,2.53,0.00,0.000,4,0.000,0.044,2643,895,853
$GC,12384,1.31,477.6,81.6,10.4,595,12388,0.00,2.42,0.00,0.000,6,0.000,0.032,2643,2299,853
$GC,12716,1.31,477.6,48.3,9.4,611,12720,0.00,2.53,0.00,0.000,4,0.000,0.045,2643,891,853
$GC,12794,1.31,477.6,41.2,7.7,614,12800,0.00,2.45,0.00,0.000,6,0.000,0.033,2643,2301,853
$GC,13110,1.31,477.6,3.9,13.4,630,13114,0.00,2.22,0.00,0.000,3,0.000,0.043,2643,1043,853
$STATE,13115,end climb,SURFACE_DEPTH_REACHED
$STATE,13115,begin surface coast
$FINISH,0.7,1.026510
$STATE,13152,end surface coast,CONTROL_FINISHED_OK
$STATE,13152,begin surface
$SM_CCo,13238,0.00,0.000,0,0,853,482.01
$SM_GC,1.45,12.25,0.00,0.00,0.087,0.000,0.000,78,2601,853,-10.45,0.03,482.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1762
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,40.1
$24V_AH,23.6,23.224
$10V_AH,10.1,11.446
$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,27.275,118.200,553.700,0.000,0.000,18.125,30.530,140.893,5.750,0.000,0.000,12.467,1179.128,9832.697,586.939,1524.997,415.273,0.000,1407.591,0.000,1482.242,0.000,39.835,0.000
$DEVICE_MAMPS,182.546,71.331,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.958,429.000,398.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31670,632
$CAP_FILE_SIZE,101333,0
$CFSIZE,260165632,251293696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280609,221606,6355.118,-1322.120,38,1.3,38,-12.6