version: 66.04
glider: 16
mission: 13
dive: 129
start: 6 29 109 12 38 46
data:
$ID,16
$MISSION,13
$DIVE,129
$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,-2109903
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,123237,6351.329,-1317.323,37,1.4,37,-12.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.6
$GPS2,123828,6351.407,-1317.347,14,2.7,33,-12.5
$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,126.0,6542,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-54.67,0.000,6,0.000,0.000,73,2608,3415
$GC,80,-1.03,-146.6,8.2,-15.6,3,94,11.80,0.00,0.00,0.000,6,0.181,0.000,2130,2608,3415
$GC,412,-1.03,-146.6,54.8,-9.9,19,416,0.00,2.30,0.00,0.000,4,0.000,0.064,2130,3851,3417
$GC,498,-1.03,-146.6,63.9,-10.6,23,502,0.00,2.15,0.00,0.000,6,0.000,0.026,2130,2580,3418
$GC,825,-1.03,-146.6,98.4,-10.4,39,829,0.00,2.40,0.00,0.000,4,0.000,0.039,2130,1212,3418
$GC,874,-1.03,-146.6,103.5,-9.4,41,878,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2595,3418
$GC,1196,-1.03,-146.6,133.8,-9.1,57,1200,0.00,2.33,0.00,0.000,4,0.000,0.064,2130,3858,3418
$GC,1228,-1.03,-146.6,137.3,-10.3,58,1235,0.00,2.12,0.00,0.000,6,0.000,0.027,2130,2594,3419
$GC,1544,-1.03,-146.6,169.9,-10.4,74,1548,0.00,2.42,0.00,0.000,4,0.000,0.040,2130,1209,3418
$GC,1600,-1.03,-146.6,176.0,-10.6,76,1604,0.00,2.45,0.00,0.000,6,0.000,0.035,2130,2603,3419
$GC,1916,-1.03,-146.6,208.4,-10.2,91,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,2226,-1.03,-146.6,242.1,-10.9,106,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,2534,-1.03,-146.6,273.7,-10.0,121,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3419
$GC,2844,-1.03,-146.6,303.3,-9.4,136,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3418
$GC,3153,-1.03,-146.6,330.3,-8.2,151,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3418
$GC,3462,-1.03,-146.6,355.2,-7.9,166,3466,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1214,3418
$GC,3489,-1.03,-146.6,357.5,-7.5,167,3493,0.00,2.42,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,3805,-1.03,-146.6,381.4,-7.1,182,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4114,-1.03,-146.6,401.7,-6.5,197,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4423,-1.03,-146.6,423.5,-7.6,212,4427,0.00,2.42,0.00,0.000,4,0.000,0.039,2130,1215,3418
$GC,4457,-1.07,-146.6,425.9,-6.8,213,4461,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2604,3418
$GC,4779,-1.07,-146.6,450.9,-8.0,229,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,5089,-1.07,-146.6,475.1,-7.3,244,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3417
$GC,5397,-1.07,-146.6,496.8,-6.9,259,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,5706,-1.07,-146.6,522.0,-8.8,274,5710,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1210,3417
$GC,5762,-1.12,-146.6,527.1,-9.3,276,5769,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2610,3417
$GC,6078,-1.12,-146.6,556.7,-9.5,292,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3417
$GC,6387,-1.12,-146.6,587.1,-10.6,307,6391,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1212,3417
$GC,6428,-1.19,-146.6,591.0,-9.6,309,6433,0.15,2.42,0.00,0.000,6,0.045,0.036,2086,2600,3417
$GC,6756,-1.07,-146.6,629.9,-11.6,325,6761,0.17,2.45,0.00,0.000,4,0.097,0.041,2122,1211,3417
$GC,6801,-1.11,-146.6,634.0,-7.5,327,6805,0.00,2.45,0.00,0.000,6,0.000,0.038,2122,2604,3416
$GC,7123,-1.11,-146.6,657.8,-6.4,343,7127,0.00,2.45,0.00,0.000,4,0.000,0.043,2123,1218,3417
$GC,7167,-1.11,-146.6,660.5,-5.6,345,7171,0.00,2.42,0.00,0.000,6,0.000,0.038,2123,2599,3417
$GC,7489,-1.11,-146.6,673.6,-3.6,361,7493,0.00,2.42,0.00,0.000,4,0.000,0.040,2123,1212,3416
$GC,7528,-1.17,-146.6,675.2,-4.0,362,7534,0.00,2.45,0.00,0.000,6,0.000,0.038,2123,2606,3416
$GC,7844,-1.17,-146.6,690.6,-6.4,378,7848,0.00,2.35,0.00,0.000,4,0.000,0.073,2123,3864,3416
$GC,7888,-1.17,-146.6,694.2,-8.2,380,7892,0.00,2.12,0.00,0.000,6,0.000,0.028,2123,2608,3415
$GC,8216,-1.17,-146.6,726.0,-10.4,396,8220,0.00,2.35,0.00,0.000,4,0.000,0.071,2123,3863,3415
$GC,8289,-1.17,-146.6,734.2,-11.1,399,8293,0.00,2.15,0.00,0.000,6,0.000,0.030,2123,2605,3415
$GC,8610,-1.17,-146.6,763.4,-9.1,415,8614,0.00,2.35,0.00,0.000,4,0.000,0.072,2123,3857,3414
$GC,8638,-1.17,-146.6,766.1,-10.2,416,8641,0.00,2.15,0.00,0.000,6,0.000,0.031,2123,2601,3414
$GC,8959,-1.17,-146.6,794.6,-8.6,432,8963,0.00,2.50,0.00,0.000,4,0.000,0.049,2123,1202,3414
$GC,8987,-1.22,-146.6,797.1,-9.0,433,8992,0.12,2.47,0.00,0.000,6,0.051,0.041,2086,2603,3413
$STATE,9300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9300,begin apogee
$GC,9307,-0.31,0.0,828.7,9.5,448,9443,1.05,0.00,130.40,1.126,6,0.120,0.000,2290,2293,2817
$STATE,9443,end apogee,CONTROL_FINISHED_OK
$STATE,9443,begin climb
$GC,9447,1.03,146.6,832.8,0.0,455,9586,1.38,2.58,131.48,1.117,4,0.079,0.051,2579,910,2217
$GC,9695,0.95,168.5,825.0,6.8,465,9723,0.00,2.50,20.02,1.043,6,0.000,0.039,2579,2305,2130
$GC,10033,0.88,168.5,799.8,7.5,482,10035,0.15,0.00,0.00,0.000,6,0.097,0.000,2551,2305,2124
$GC,10342,0.87,199.9,777.1,6.4,497,10373,0.00,0.00,28.77,1.055,6,0.000,0.000,2551,2305,2002
$GC,10673,0.93,258.7,759.6,5.5,513,10737,0.00,2.67,55.80,1.071,4,0.000,0.067,2551,3702,1760
$GC,10770,0.93,258.7,752.9,8.8,517,10774,0.00,2.47,0.00,0.000,6,0.000,0.032,2551,2311,1758
$GC,11087,1.02,287.4,731.0,6.5,532,11122,0.15,2.72,26.98,1.027,4,0.053,0.064,2591,3708,1645
$GC,11167,0.94,287.4,723.3,10.1,535,11174,0.12,2.50,0.00,0.000,6,0.105,0.032,2569,2302,1642
$GC,11483,0.94,287.4,696.1,8.9,551,11487,0.00,2.65,0.00,0.000,4,0.000,0.064,2569,3712,1639
$GC,11510,0.94,287.4,693.2,10.8,552,11514,0.00,2.50,0.00,0.000,6,0.000,0.031,2569,2295,1639
$GC,11825,0.94,287.4,660.3,11.4,567,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2295,1637
$GC,12135,0.99,287.4,625.2,11.2,582,12139,0.00,2.55,0.00,0.000,4,0.000,0.051,2569,896,1637
$GC,12168,0.99,287.4,621.4,10.4,583,12174,0.00,2.50,0.00,0.000,6,0.000,0.037,2569,2311,1634
$GC,12484,1.03,287.4,587.5,10.0,599,12488,0.00,2.58,0.00,0.000,4,0.000,0.048,2569,888,1635
$GC,12573,1.03,287.4,578.7,9.9,603,12577,0.00,2.47,0.00,0.000,6,0.000,0.035,2569,2302,1634
$GC,12900,1.03,287.4,550.6,8.4,619,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2302,1634
$GC,13209,1.03,287.4,522.1,9.5,634,13213,0.00,2.55,0.00,0.000,4,0.000,0.046,2569,888,1634
$GC,13230,1.03,287.4,520.0,9.7,635,13234,0.00,2.47,0.00,0.000,6,0.000,0.034,2569,2301,1634
$GC,13551,1.03,287.4,489.0,9.5,651,13555,0.00,2.53,0.00,0.000,4,0.000,0.045,2568,892,1634
$GC,13579,1.08,287.4,486.1,9.9,652,13584,0.12,2.47,0.00,0.000,6,0.049,0.033,2603,2308,1634
$GC,13900,1.03,287.4,450.7,11.3,668,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2309,1634
$GC,14210,0.99,287.4,415.6,11.4,683,14215,0.15,2.53,0.00,0.000,4,0.093,0.044,2575,893,1634
$GC,14265,0.99,287.4,409.6,10.8,685,14272,0.00,2.45,0.00,0.000,6,0.000,0.034,2575,2301,1634
$GC,14581,0.99,287.4,379.7,9.4,701,14583,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1634
$GC,14890,0.99,287.4,352.0,8.8,716,14894,0.00,2.53,0.00,0.000,4,0.000,0.044,2575,888,1635
$GC,14942,1.03,287.4,347.4,8.9,718,14946,0.00,2.47,0.00,0.000,6,0.000,0.033,2575,2308,1635
$GC,15263,1.03,287.4,321.3,8.1,734,15264,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2308,1635
$GC,15572,1.03,287.4,297.0,8.0,749,15576,0.00,2.53,0.00,0.000,4,0.000,0.044,2575,894,1635
$GC,15612,1.08,287.4,293.8,8.4,751,15616,0.00,2.45,0.00,0.000,6,0.000,0.033,2575,2304,1635
$GC,15938,1.08,287.4,265.8,8.9,767,15943,0.00,2.53,0.00,0.000,4,0.000,0.043,2575,890,1635
$GC,15960,1.08,287.4,263.6,9.4,768,15965,0.00,2.45,0.00,0.000,6,0.000,0.033,2575,2299,1635
$GC,16282,1.12,287.4,233.2,10.0,784,16284,0.12,0.00,0.00,0.000,6,0.050,0.000,2614,2300,1635
$GC,16592,1.06,287.4,195.8,12.2,799,16596,0.12,2.50,0.00,0.000,4,0.090,0.044,2590,894,1635
$GC,16653,1.06,287.4,188.4,10.4,802,16657,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2306,1635
$GC,16986,1.06,287.4,152.6,10.5,818,16990,0.00,2.53,0.00,0.000,4,0.000,0.043,2590,891,1636
$GC,17013,1.06,287.4,149.7,10.9,819,17017,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2301,1636
$GC,17329,1.06,287.4,119.3,9.4,834,17333,0.00,2.50,0.00,0.000,4,0.000,0.044,2590,892,1636
$GC,17369,1.06,287.4,115.5,9.4,836,17373,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2304,1636
$GC,17696,1.06,287.4,85.8,9.2,852,17700,0.00,2.53,0.00,0.000,4,0.000,0.042,2590,888,1636
$GC,17728,1.06,287.4,82.1,10.6,853,17735,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2302,1636
$GC,18046,1.06,287.4,50.3,10.3,869,18047,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2302,1636
$GC,18354,1.06,287.4,18.6,9.6,884,18358,0.00,2.53,0.00,0.000,4,0.000,0.043,2590,888,1637
$GC,18386,1.06,287.4,15.0,10.2,885,18393,0.00,2.45,0.00,0.000,6,0.000,0.033,2590,2306,1636
$STATE,18516,end climb,SURFACE_DEPTH_REACHED
$STATE,18516,begin surface coast
$FINISH,1.1,1.026546
$STATE,18536,end surface coast,CONTROL_FINISHED_OK
$STATE,18536,begin surface
$SM_CCo,18619,0.00,0.000,0,0,1633,290.44
$SM_GC,1.86,11.93,0.00,0.00,0.085,0.000,0.000,75,2601,1633,-10.45,0.06,290.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1734
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.4,60.9
$24V_AH,23.6,23.823
$10V_AH,10.1,11.761
$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,27.550,157.675,393.450,0.000,0.000,18.122,26.611,160.979,6.750,0.000,0.000,36.256,1628.162,14433.357,499.007,1905.370,499.588,0.000,1472.136,0.000,1837.239,0.000,46.358,0.000
$DEVICE_MAMPS,181.012,72.865,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.320,609.276,499.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44294,893
$CAP_FILE_SIZE,135242,0
$CFSIZE,260165632,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290609,175006,6351.388,-1314.448,24,1.6,24,-12.5