version: 66.04
glider: 16
mission: 13
dive: 130
start: 6 29 109 18 1 55
data:
$ID,16
$MISSION,13
$DIVE,130
$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,-2109915.8
$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,27
$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
$GPS1,175006,6351.388,-1314.448,24,1.6,24,-12.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.7
$GPS2,180137,6351.377,-1314.760,12,1.9,12,-12.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,2500.000
$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,135.8,4650,-20.2,-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,-1.34,-74.3,0.0,0.0,0,71,0.00,0.00,-53.15,0.000,6,0.000,0.000,75,2601,3121
$GC,74,-1.36,-89.3,3.1,-6.5,2,96,11.38,2.38,-1.15,0.000,4,0.178,0.073,2057,3857,3185
$GC,188,-1.29,-89.3,26.7,-15.3,7,193,0.10,2.17,0.00,0.000,6,0.124,0.027,2073,2577,3186
$GC,515,-1.29,-89.3,67.7,-12.0,23,519,0.00,2.38,0.00,0.000,4,0.000,0.061,2074,3863,3187
$GC,570,-1.29,-89.3,75.0,-13.4,25,577,0.00,2.12,0.00,0.000,6,0.000,0.027,2073,2592,3187
$GC,886,-1.29,-89.3,113.7,-12.1,41,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2592,3187
$GC,1198,-1.29,-89.3,152.6,-13.1,56,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2592,3187
$GC,1505,-1.29,-89.3,193.3,-13.0,71,1509,0.00,2.42,0.00,0.000,4,0.000,0.040,2073,1215,3187
$GC,1533,-1.35,-89.3,196.9,-13.1,72,1537,0.00,2.42,0.00,0.000,6,0.000,0.035,2073,2597,3187
$GC,1849,-1.39,-89.3,235.5,-11.6,87,1853,0.00,2.33,0.00,0.000,4,0.000,0.064,2073,3858,3187
$GC,1899,-1.39,-89.3,241.8,-12.2,89,1902,0.00,2.12,0.00,0.000,6,0.000,0.027,2074,2600,3187
$GC,2221,-1.39,-89.3,277.2,-11.2,105,2225,0.00,2.33,0.00,0.000,4,0.000,0.064,2073,3858,3187
$GC,2271,-1.39,-89.3,283.3,-11.9,107,2275,0.00,2.10,0.00,0.000,6,0.000,0.027,2073,2603,3187
$GC,2592,-1.39,-89.3,318.9,-11.3,123,2596,0.00,2.45,0.00,0.000,4,0.000,0.040,2074,1208,3187
$GC,2636,-1.48,-89.3,324.1,-11.6,125,2641,0.17,2.45,0.00,0.000,6,0.045,0.036,2025,2603,3186
$GC,2958,-1.38,-89.3,368.9,-14.0,141,2963,0.17,2.33,0.00,0.000,4,0.115,0.066,2061,3860,3187
$GC,3007,-1.38,-89.3,375.8,-13.2,143,3011,0.00,2.12,0.00,0.000,6,0.000,0.027,2061,2593,3187
$GC,3329,-1.38,-89.3,415.0,-12.3,159,3333,0.00,2.35,0.00,0.000,4,0.000,0.066,2060,3858,3187
$GC,3362,-1.33,-89.3,419.7,-14.2,160,3369,0.00,2.12,0.00,0.000,6,0.000,0.028,2060,2595,3187
$GC,3678,-1.33,-89.3,462.2,-13.5,176,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2594,3187
$GC,3988,-1.33,-89.3,502.4,-12.3,191,3992,0.00,2.35,0.00,0.000,4,0.000,0.066,2061,3861,3186
$GC,4073,-1.33,-89.3,513.1,-12.3,195,4077,0.00,2.12,0.00,0.000,6,0.000,0.028,2061,2599,3186
$GC,4407,-1.33,-89.3,550.6,-10.5,211,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2598,3186
$GC,4716,-1.33,-89.3,581.3,-10.0,226,4720,0.00,2.45,0.00,0.000,4,0.000,0.041,2061,1207,3186
$GC,4737,-1.33,-89.3,583.6,-9.9,227,4741,0.00,2.45,0.00,0.000,6,0.000,0.037,2061,2601,3186
$GC,5058,-1.33,-89.3,613.5,-9.8,243,5062,0.00,2.33,0.00,0.000,4,0.000,0.069,2061,3857,3186
$GC,5210,-1.33,-89.3,628.9,-9.9,249,5216,0.00,2.12,0.00,0.000,6,0.000,0.028,2061,2598,3185
$GC,5525,-1.33,-89.3,657.0,-9.1,265,5530,0.00,2.45,0.00,0.000,4,0.000,0.042,2061,1209,3185
$GC,5626,-1.39,-89.3,666.3,-9.3,269,5632,0.00,2.45,0.00,0.000,6,0.000,0.038,2061,2600,3185
$GC,5942,-1.39,-89.3,699.4,-10.8,285,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2600,3185
$GC,6251,-1.39,-89.3,731.7,-10.1,300,6255,0.00,2.35,0.00,0.000,4,0.000,0.074,2061,3855,3184
$GC,6278,-1.39,-89.3,734.6,-10.3,301,6282,0.00,2.15,0.00,0.000,6,0.000,0.031,2061,2606,3184
$GC,6600,-1.39,-89.3,766.6,-10.0,317,6604,0.00,2.50,0.00,0.000,4,0.000,0.048,2061,1203,3183
$GC,6689,-1.46,-89.3,774.7,-9.1,321,6696,0.00,2.47,0.00,0.000,6,0.000,0.041,2061,2598,3182
$GC,7018,-1.46,-89.3,807.9,-10.6,337,7022,0.00,2.38,0.00,0.000,4,0.000,0.077,2061,3860,3183
$GC,7045,-1.46,-89.3,811.0,-10.7,338,7050,0.00,2.17,0.00,0.000,6,0.000,0.033,2061,2602,3183
$STATE,7318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7318,begin apogee
$GC,7325,-0.31,0.0,839.1,9.9,351,7409,1.15,0.00,80.88,1.124,6,0.110,0.000,2289,2299,2817
$STATE,7410,end apogee,CONTROL_FINISHED_OK
$STATE,7410,begin climb
$GC,7413,1.36,89.3,841.6,0.0,355,7505,1.70,2.65,82.88,1.114,4,0.072,0.054,2651,905,2451
$GC,7552,1.24,112.9,838.7,5.9,362,7581,0.00,2.50,22.27,1.058,6,0.000,0.039,2651,2308,2355
$GC,7899,1.16,112.9,811.0,7.8,379,7901,0.20,0.00,0.00,0.000,6,0.105,0.000,2614,2308,2349
$GC,8208,1.18,129.6,788.6,6.4,394,8230,0.00,2.67,15.57,1.010,4,0.000,0.067,2614,3701,2287
$GC,8264,1.10,129.6,784.4,8.4,396,8269,0.00,2.47,0.00,0.000,6,0.000,0.031,2614,2303,2287
$GC,8580,1.12,150.7,763.5,6.1,411,8606,0.00,2.62,20.38,1.029,4,0.000,0.052,2613,895,2201
$GC,8640,1.12,150.7,759.3,8.1,414,8645,0.00,2.53,0.00,0.000,6,0.000,0.038,2614,2308,2199
$GC,8967,1.12,150.7,730.7,9.5,430,8972,0.00,2.62,0.00,0.000,4,0.000,0.066,2613,3707,2197
$GC,9001,1.07,150.7,727.3,9.7,431,9007,0.00,2.47,0.00,0.000,6,0.000,0.031,2614,2298,2197
$GC,9316,1.07,150.7,696.4,9.4,447,9321,0.00,2.62,0.00,0.000,4,0.000,0.063,2614,3701,2196
$GC,9339,1.07,150.7,694.3,9.3,448,9343,0.00,2.45,0.00,0.000,6,0.000,0.031,2614,2299,2195
$GC,9660,1.09,173.0,670.5,6.0,464,9686,0.00,2.67,20.85,0.986,4,0.000,0.062,2614,3707,2111
$GC,9738,1.10,177.3,665.0,7.2,467,9748,0.00,2.47,5.45,0.755,6,0.000,0.031,2614,2299,2094
$GC,10071,1.20,227.2,646.7,4.1,484,10125,0.00,2.60,47.30,1.011,4,0.000,0.051,2614,898,1889
$GC,10219,1.32,263.5,639.7,5.1,490,10260,0.15,2.50,34.28,0.986,6,0.054,0.037,2654,2309,1741
$GC,10578,1.32,263.5,607.6,9.9,508,10583,0.00,2.60,0.00,0.000,4,0.000,0.061,2654,3701,1733
$GC,10628,1.32,263.5,602.3,9.9,510,10632,0.00,2.45,0.00,0.000,6,0.000,0.029,2654,2300,1732
$GC,10944,1.32,263.5,569.3,10.9,525,10948,0.00,2.55,0.00,0.000,4,0.000,0.049,2654,891,1731
$GC,10971,1.32,263.5,566.2,11.6,526,10975,0.00,2.47,0.00,0.000,6,0.000,0.034,2654,2303,1729
$GC,11287,1.32,263.5,530.4,12.2,541,11291,0.00,2.53,0.00,0.000,4,0.000,0.045,2654,896,1729
$GC,11309,1.32,263.5,527.8,11.3,542,11314,0.00,2.47,0.00,0.000,6,0.000,0.033,2654,2309,1729
$GC,11637,1.37,263.5,485.9,13.7,558,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2309,1729
$GC,11946,1.41,263.5,442.1,14.5,573,11950,0.00,2.55,0.00,0.000,4,0.000,0.044,2654,890,1729
$GC,12001,1.45,263.5,433.8,14.9,575,12008,0.10,2.47,0.00,0.000,6,0.056,0.034,2684,2308,1728
$GC,12317,1.45,263.5,385.0,15.2,591,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2308,1729
$GC,12627,1.45,263.5,334.1,16.8,606,12630,0.00,2.53,0.00,0.000,4,0.000,0.044,2684,895,1729
$GC,12672,1.45,263.5,326.6,16.3,608,12676,0.00,2.45,0.00,0.000,6,0.000,0.034,2684,2304,1729
$GC,13005,1.45,263.5,272.4,15.8,624,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2305,1729
$GC,13314,1.45,263.5,225.2,14.6,639,13318,0.00,2.53,0.00,0.000,4,0.000,0.044,2684,894,1729
$GC,13364,1.45,263.5,217.6,15.1,641,13368,0.00,2.45,0.00,0.000,6,0.000,0.033,2684,2302,1729
$GC,13685,1.45,263.5,170.2,14.9,657,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2302,1729
$GC,13994,1.45,263.5,124.9,14.5,672,13999,0.00,2.53,0.00,0.000,4,0.000,0.043,2684,888,1729
$GC,14050,1.45,263.5,116.3,15.2,674,14057,0.00,2.45,0.00,0.000,6,0.000,0.033,2684,2300,1729
$GC,14366,1.45,263.5,66.9,15.9,690,14370,0.00,2.50,0.00,0.000,4,0.000,0.044,2684,895,1729
$GC,14432,1.45,263.5,56.4,15.0,693,14437,0.00,2.45,0.00,0.000,6,0.000,0.033,2684,2301,1730
$GC,14754,1.45,263.5,12.2,13.6,709,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2301,1730
$STATE,14834,end climb,SURFACE_DEPTH_REACHED
$STATE,14834,begin surface coast
$FINISH,0.7,1.014448
$STATE,14856,end surface coast,CONTROL_FINISHED_OK
$STATE,14856,begin surface
$SM_CCo,14939,0.00,0.000,0,0,1728,267.13
$SM_GC,1.90,12.45,0.00,0.00,0.088,0.000,0.000,74,2609,1728,-10.46,0.25,267.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1740
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.7,21.7
$24V_AH,23.6,23.947
$10V_AH,10.1,11.832
$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,27.575,146.225,329.850,0.000,0.000,54.540,89.304,297.115,7.500,0.000,0.000,12.008,1348.197,11511.913,439.192,1621.797,705.561,0.000,1281.184,0.000,1573.475,0.000,53.019,0.000
$DEVICE_MAMPS,177.944,77.467,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.887,487.389,391.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,714
$CAP_FILE_SIZE,121418,0
$CFSIZE,260165632,250974208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290609,221206,6349.831,-1315.520,36,1.0,36,-12.5