version: 66.04
glider: 16
mission: 13
dive: 126
start: 6 28 109 22 27 56
data:
$ID,16
$MISSION,13
$DIVE,126
$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,-2109833.8
$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,29
$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
$GPS1,221606,6355.118,-1322.120,38,1.3,38,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.8
$GPS2,222738,6354.952,-1322.050,11,1.3,11,-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,145.6,13452,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.75,0.000,2,0.000,0.000,77,2602,3087
$GC,102,-1.03,-146.6,4.1,-4.3,4,126,11.88,2.58,-6.07,0.000,4,0.183,0.049,2130,1188,3416
$GC,251,-1.03,-146.6,27.1,-12.3,10,256,0.00,2.50,0.00,0.000,6,0.000,0.035,2130,2606,3417
$GC,567,-1.03,-146.6,71.6,-13.8,25,572,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1191,3417
$GC,668,-1.03,-146.6,84.5,-11.4,29,675,0.00,2.47,0.00,0.000,6,0.000,0.035,2129,2600,3417
$GC,984,-1.03,-146.6,114.5,-8.2,45,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,1294,-1.03,-146.6,136.3,-6.7,60,1298,0.00,2.50,0.00,0.000,4,0.000,0.038,2129,1183,3417
$GC,1321,-1.03,-146.6,138.2,-5.8,61,1325,0.00,2.50,0.00,0.000,6,0.000,0.036,2129,2600,3417
$GC,1638,-1.03,-146.6,160.3,-7.2,76,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,1947,-1.03,-146.6,183.9,-7.8,91,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,2256,-1.03,-146.6,210.1,-8.8,106,2260,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1188,3417
$GC,2296,-1.03,-146.6,213.6,-8.3,108,2300,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2599,3417
$GC,2622,-1.03,-146.6,240.0,-8.0,124,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,2932,-1.03,-146.6,263.4,-7.6,139,2936,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1185,3417
$GC,2982,-1.03,-146.6,266.9,-6.5,141,2987,0.00,2.50,0.00,0.000,6,0.000,0.036,2130,2608,3417
$GC,3298,-1.03,-146.6,291.6,-8.1,156,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3417
$GC,3608,-1.03,-146.6,317.0,-8.2,171,3612,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1191,3417
$GC,3640,-1.03,-146.6,320.0,-8.6,172,3647,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2599,3417
$GC,3956,-1.03,-146.6,345.4,-8.4,188,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3417
$GC,4265,-1.03,-146.6,373.2,-8.8,203,4270,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1182,3416
$GC,4299,-1.03,-146.6,376.2,-8.2,204,4305,0.00,2.50,0.00,0.000,6,0.000,0.036,2130,2607,3416
$GC,4614,-1.03,-146.6,402.2,-8.5,220,4618,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1190,3416
$GC,4642,-1.03,-146.6,404.7,-9.3,221,4646,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2600,3416
$GC,4958,-1.03,-146.6,432.3,-8.9,236,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5267,-1.03,-146.6,457.9,-8.1,251,5271,0.00,2.50,0.00,0.000,4,0.000,0.039,2129,1184,3416
$GC,5306,-1.07,-146.6,461.0,-8.2,252,5312,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2607,3416
$GC,5622,-1.07,-146.6,486.8,-7.3,268,5626,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1191,3416
$GC,5657,-1.11,-146.6,489.3,-7.4,269,5663,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2599,3416
$GC,5972,-1.11,-146.6,516.7,-10.1,285,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3415
$GC,6281,-1.11,-146.6,543.5,-8.4,300,6285,0.00,2.50,0.00,0.000,4,0.000,0.039,2129,1184,3415
$GC,6350,-1.16,-146.6,549.0,-7.8,303,6354,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2608,3415
$GC,6677,-1.16,-146.6,573.4,-7.2,319,6681,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1191,3415
$GC,6733,-1.21,-146.6,577.5,-7.2,321,6740,0.15,2.47,0.00,0.000,6,0.045,0.038,2085,2599,3415
$GC,7049,-1.10,-146.6,606.5,-8.7,337,7051,0.17,0.00,0.00,0.000,6,0.096,0.000,2118,2599,3414
$GC,7358,-1.10,-146.6,627.1,-5.3,352,7362,0.00,2.35,0.00,0.000,4,0.000,0.072,2118,3855,3414
$GC,7403,-1.10,-146.6,629.6,-5.8,354,7407,0.00,2.17,0.00,0.000,6,0.000,0.028,2118,2576,3414
$GC,7724,-1.10,-146.6,656.1,-8.9,370,7728,0.00,2.40,0.00,0.000,4,0.000,0.070,2118,3858,3413
$GC,7835,-1.10,-146.6,668.2,-11.5,375,7839,0.00,2.15,0.00,0.000,6,0.000,0.030,2118,2602,3413
$GC,8166,-1.10,-146.6,700.7,-9.8,391,8171,0.00,2.35,0.00,0.000,4,0.000,0.072,2118,3856,3413
$GC,8324,-1.10,-146.6,718.9,-10.5,398,8327,0.00,2.15,0.00,0.000,6,0.000,0.031,2118,2605,3413
$GC,8651,-1.10,-146.6,745.9,-7.1,414,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2602,3413
$STATE,8936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8937,begin apogee
$GC,8944,-0.31,0.0,772.4,9.8,428,9079,0.88,0.00,128.77,1.093,6,0.106,0.000,2293,2309,2816
$STATE,9080,end apogee,CONTROL_FINISHED_OK
$STATE,9080,begin climb
$GC,9083,1.03,146.6,776.5,0.0,435,9222,1.35,2.67,130.68,1.080,4,0.071,0.058,2580,898,2218
$GC,9479,0.91,146.6,755.4,7.6,452,9484,0.12,2.53,0.00,0.000,6,0.106,0.041,2558,2305,2208
$GC,9801,0.88,170.6,734.0,6.7,468,9827,0.00,2.70,21.08,1.009,4,0.000,0.069,2558,3701,2120
$GC,9912,0.77,170.6,724.8,8.7,473,9917,0.17,2.50,0.00,0.000,6,0.106,0.034,2525,2298,2119
$GC,10233,0.82,170.6,696.0,9.4,489,10237,0.00,2.65,0.00,0.000,4,0.000,0.065,2526,3707,2115
$GC,10283,0.87,211.9,693.1,6.1,491,10329,0.10,2.50,37.97,1.027,6,0.063,0.033,2552,2291,1952
$GC,10644,0.87,211.9,664.9,8.1,509,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2291,1946
$GC,10954,0.87,211.9,638.3,9.0,524,10958,0.00,2.65,0.00,0.000,4,0.000,0.063,2552,3702,1944
$GC,11083,0.87,211.9,624.2,11.9,530,11088,0.00,2.47,0.00,0.000,6,0.000,0.031,2552,2293,1945
$GC,11411,0.87,211.9,588.6,10.1,546,11415,0.00,2.62,0.00,0.000,4,0.000,0.061,2552,3704,1943
$GC,11454,0.87,211.9,583.9,10.2,548,11459,0.00,2.45,0.00,0.000,6,0.000,0.030,2552,2298,1943
$GC,11776,0.87,211.9,557.1,8.6,564,11780,0.00,2.62,0.00,0.000,4,0.000,0.060,2552,3709,1943
$GC,11803,0.87,211.9,554.7,8.3,565,11807,0.00,2.45,0.00,0.000,6,0.000,0.029,2552,2294,1943
$GC,12125,0.87,216.9,530.0,7.3,581,12134,0.00,2.55,4.47,0.636,4,0.000,0.050,2552,895,1932
$GC,12162,0.87,216.9,527.0,8.2,582,12169,0.00,2.47,0.00,0.000,6,0.000,0.034,2552,2305,1930
$GC,12478,0.94,274.6,505.7,5.5,598,12538,0.00,0.00,54.53,0.917,6,0.000,0.000,2552,2305,1696
$GC,12848,1.09,352.8,487.1,4.8,616,12929,0.22,2.62,70.78,0.902,4,0.051,0.045,2610,906,1376
$GC,12953,1.09,352.8,478.8,8.4,621,12957,0.00,2.47,0.00,0.000,6,0.000,0.034,2610,2301,1373
$GC,13280,1.09,352.8,447.9,10.5,637,13284,0.00,2.55,0.00,0.000,4,0.000,0.046,2610,891,1369
$GC,13329,1.09,352.8,442.4,10.9,639,13333,0.00,2.47,0.00,0.000,6,0.000,0.034,2610,2299,1367
$GC,13644,1.09,352.8,405.0,12.7,654,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2299,1367
$GC,13954,1.09,352.8,365.0,13.0,669,13958,0.00,2.53,0.00,0.000,4,0.000,0.045,2610,896,1367
$GC,14003,1.09,352.8,358.2,13.1,671,14007,0.00,2.45,0.00,0.000,6,0.000,0.033,2611,2301,1365
$GC,14324,1.09,352.8,318.3,11.7,687,14328,0.00,2.53,0.00,0.000,4,0.000,0.044,2610,892,1365
$GC,14357,1.09,352.8,314.1,11.5,688,14363,0.00,2.47,0.00,0.000,6,0.000,0.033,2610,2306,1365
$GC,14673,1.09,352.8,275.7,13.6,704,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2307,1365
$GC,14982,1.09,352.8,231.3,15.3,719,14986,0.00,2.53,0.00,0.000,4,0.000,0.044,2610,898,1365
$GC,15032,1.09,352.8,223.4,14.8,721,15036,0.00,2.45,0.00,0.000,6,0.000,0.034,2610,2305,1365
$GC,15353,1.09,352.8,172.7,15.5,737,15357,0.00,2.53,0.00,0.000,4,0.000,0.043,2610,896,1365
$GC,15374,1.09,352.8,169.3,15.6,738,15378,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2306,1364
$GC,15701,1.09,352.8,119.0,15.4,754,15705,0.00,2.53,0.00,0.000,4,0.000,0.044,2610,897,1364
$GC,15741,1.09,352.8,112.3,17.5,756,15745,0.00,2.42,0.00,0.000,6,0.000,0.033,2610,2299,1364
$GC,16074,1.09,352.8,51.9,16.0,772,16078,0.00,2.50,0.00,0.000,4,0.000,0.045,2610,899,1365
$GC,16114,1.09,352.8,46.1,14.4,774,16118,0.00,2.45,0.00,0.000,6,0.000,0.033,2610,2310,1365
$GC,16446,1.09,352.8,4.3,12.0,790,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2310,1365
$STATE,16464,end climb,SURFACE_DEPTH_REACHED
$STATE,16464,begin surface coast
$FINISH,0.7,1.026042
$STATE,16486,end surface coast,CONTROL_FINISHED_OK
$STATE,16486,begin surface
$SM_CCo,16570,0.00,0.000,0,0,1363,356.67
$SM_GC,1.56,12.23,0.00,0.00,0.093,0.000,0.000,76,2609,1363,-10.46,0.25,356.67
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1759
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,700.7,80.2
$24V_AH,23.6,23.379
$10V_AH,10.1,11.524
$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,27.275,150.300,448.275,0.000,0.000,54.425,120.381,274.589,6.250,0.000,0.000,11.420,1473.197,12688.222,575.188,1804.191,723.558,0.000,1506.856,0.000,1756.991,0.000,42.159,0.000
$DEVICE_MAMPS,183.313,72.098,1092.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.358,541.521,432.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41094,792
$CAP_FILE_SIZE,127293,0
$CFSIZE,260165632,251203584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290609,030525,6354.840,-1316.863,43,1.3,43,-12.6