version: 66.04
glider: 16
mission: 13
dive: 141
start: 7 1 109 18 1 21
data:
$ID,16
$MISSION,13
$DIVE,141
$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,270
$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,-2110096
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,175527,6353.729,-1327.831,31,2.7,50,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.3
$GPS2,180103,6353.767,-1327.788,16,1.0,35,-12.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6353.767,-1352.332
$TGT_RADIUS,1852.000
$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,282.7,20000,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,98,0.00,0.00,-80.15,0.000,6,0.000,0.000,68,2604,3417
$GC,102,-1.03,-146.6,5.9,-7.3,4,123,11.98,2.55,0.00,0.000,4,0.185,0.036,2130,1182,3418
$GC,208,-1.03,-146.6,29.9,-11.3,8,214,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2597,3419
$GC,524,-1.03,-146.6,59.7,-7.9,24,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,833,-1.03,-146.6,82.1,-9.3,39,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,1142,-1.03,-146.6,119.9,-12.8,54,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,1451,-1.03,-146.6,156.8,-11.5,69,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,1760,-1.03,-146.6,188.8,-9.3,84,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2070,-1.03,-146.6,215.4,-8.7,99,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2379,-1.03,-146.6,243.1,-9.4,114,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,2688,-1.03,-146.6,271.1,-9.4,129,2692,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1191,3419
$GC,2733,-1.07,-146.6,275.1,-8.9,131,2738,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2600,3419
$GC,3054,-1.07,-146.6,302.9,-8.2,147,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3364,-1.07,-146.6,328.8,-8.7,162,3368,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1190,3418
$GC,3404,-1.12,-146.6,332.3,-8.5,164,3408,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2601,3418
$GC,3731,-1.12,-146.6,355.9,-6.2,180,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,4041,-1.12,-146.6,376.2,-7.6,195,4046,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1190,3418
$GC,4097,-1.12,-146.6,380.6,-7.7,197,4103,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2600,3418
$GC,4412,-1.12,-146.6,408.6,-9.2,213,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,4722,-1.12,-146.6,442.0,-11.7,228,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5031,-1.12,-146.6,474.4,-8.8,243,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5341,-1.12,-146.6,490.3,-3.8,258,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,5650,-1.12,-146.6,504.5,-7.4,273,5654,0.00,2.47,0.00,0.000,4,0.000,0.039,2130,1191,3418
$GC,5706,-1.16,-146.6,510.3,-10.9,275,5713,0.12,2.47,0.00,0.000,6,0.048,0.037,2091,2605,3417
$GC,6023,-1.06,-146.6,552.4,-13.0,291,6028,0.17,2.50,0.00,0.000,4,0.100,0.038,2128,1185,3417
$GC,6124,-1.11,-146.6,563.9,-10.6,295,6130,0.00,2.50,0.00,0.000,6,0.000,0.038,2127,2609,3417
$GC,6441,-1.11,-146.6,590.6,-6.3,311,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2609,3417
$GC,6750,-1.11,-146.6,605.2,-5.2,326,6754,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1192,3417
$GC,6794,-1.16,-146.6,607.0,-4.1,328,6799,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2599,3417
$GC,7116,-1.16,-146.6,624.9,-6.2,344,7124,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1186,3417
$GC,7192,-1.22,-146.6,630.7,-8.1,347,7197,0.17,2.50,0.00,0.000,6,0.044,0.039,2080,2600,3417
$GC,7513,-1.11,-146.6,673.7,-14.3,363,7515,0.20,0.00,0.00,0.000,6,0.104,0.000,2116,2600,3416
$GC,7823,-1.05,-146.6,705.5,-8.5,378,7827,0.00,2.38,0.00,0.000,4,0.000,0.077,2116,3859,3415
$GC,7918,-1.05,-146.6,712.2,-7.0,382,7922,0.00,2.17,0.00,0.000,6,0.000,0.030,2116,2586,3415
$GC,8234,-1.05,-146.6,731.9,-1.4,397,8238,0.00,2.40,0.00,0.000,4,0.000,0.074,2116,3861,3414
$GC,8297,-1.05,-146.6,731.7,0.2,400,8300,0.00,2.17,0.00,0.000,6,0.000,0.031,2116,2593,3414
$GC,8630,-1.05,-146.6,738.4,-4.5,416,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2592,3413
$GC,8939,-1.05,-146.6,766.4,-8.2,431,8943,0.00,2.47,0.00,0.000,4,0.000,0.044,2116,1197,3413
$GC,9039,-1.10,-146.6,779.4,-10.9,435,9046,0.00,2.50,0.00,0.000,6,0.000,0.044,2116,2606,3412
$GC,9355,-1.05,-146.6,815.7,-15.8,451,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2606,3412
$GC,9665,-1.05,-146.6,852.1,-9.3,466,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2606,3410
$GC,9974,-1.25,-146.6,850.0,-0.8,481,9979,0.15,2.38,0.00,0.000,4,0.065,0.079,2080,3858,3408
$STATE,10034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10034,begin apogee
$GC,10044,-0.31,0.0,855.8,23.7,484,10178,1.00,0.00,131.10,1.165,6,0.074,0.000,2293,2313,2817
$STATE,10179,end apogee,CONTROL_FINISHED_OK
$STATE,10179,begin climb
$GC,10182,1.03,146.6,857.0,0.0,491,10327,1.33,2.67,133.82,1.157,4,0.059,0.061,2582,3702,2217
$GC,10582,0.81,146.6,842.5,9.1,509,10588,0.25,2.50,0.00,0.000,6,0.109,0.035,2536,2294,2210
$GC,10904,1.09,404.8,832.6,-1.3,525,11146,0.25,0.00,234.18,1.145,6,0.053,0.000,2600,2292,1164
$GC,11462,1.09,404.8,778.7,9.9,552,11466,0.00,2.58,0.00,0.000,4,0.000,0.055,2600,895,1155
$GC,11535,1.14,404.8,766.1,14.9,555,11539,0.00,2.53,0.00,0.000,6,0.000,0.041,2600,2304,1154
$GC,11851,1.20,404.8,728.8,9.5,570,11855,0.00,2.60,0.00,0.000,4,0.000,0.055,2600,891,1153
$GC,11913,1.25,408.2,723.7,7.4,573,11918,0.15,2.53,0.00,0.000,6,0.061,0.040,2640,2304,1153
$GC,12240,1.21,408.2,681.8,14.7,589,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2304,1151
$GC,12549,1.21,408.2,647.9,7.9,604,12554,0.00,2.58,0.00,0.000,4,0.000,0.054,2640,895,1151
$GC,12600,1.25,445.5,644.2,6.2,606,12642,0.00,2.50,36.67,1.021,6,0.000,0.038,2640,2303,999
$GC,12960,1.25,445.5,608.2,16.2,624,12964,0.00,2.60,0.00,0.000,4,0.000,0.054,2640,888,993
$GC,13143,1.25,445.5,581.2,9.4,632,13148,0.00,2.50,0.00,0.000,6,0.000,0.036,2640,2304,992
$GC,13459,1.25,445.5,541.1,15.2,647,13463,0.00,2.58,0.00,0.000,4,0.000,0.048,2639,889,991
$GC,13554,1.25,445.5,531.6,9.5,651,13558,0.00,2.50,0.00,0.000,6,0.000,0.035,2640,2309,991
$GC,13869,1.25,445.5,496.6,9.2,666,13874,0.00,2.58,0.00,0.000,4,0.000,0.051,2640,891,991
$GC,13932,1.25,445.5,491.1,9.0,669,13936,0.00,2.50,0.00,0.000,6,0.000,0.036,2640,2305,991
$GC,14258,1.25,445.5,448.0,13.6,685,14262,0.00,2.58,0.00,0.000,4,0.000,0.049,2640,888,991
$GC,14371,1.25,445.5,432.3,15.2,690,14375,0.00,2.50,0.00,0.000,6,0.000,0.035,2640,2312,991
$GC,14692,1.25,445.5,388.6,15.8,706,14696,0.00,2.58,0.00,0.000,4,0.000,0.048,2640,892,991
$GC,14804,1.25,445.5,374.1,11.4,711,14808,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2300,991
$GC,15125,1.25,445.5,332.5,13.6,727,15129,0.00,2.55,0.00,0.000,4,0.000,0.048,2640,889,991
$GC,15180,1.25,445.5,324.4,14.3,729,15186,0.00,2.47,0.00,0.000,6,0.000,0.035,2640,2300,991
$GC,15495,1.25,445.5,281.2,13.0,745,15499,0.00,2.53,0.00,0.000,4,0.000,0.047,2640,891,991
$GC,15579,1.25,445.5,270.3,12.7,748,15585,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2304,991
$GC,15895,1.25,445.5,228.3,13.4,764,15899,0.00,2.55,0.00,0.000,4,0.000,0.047,2640,884,991
$GC,15986,1.29,445.5,216.1,12.8,768,15990,0.00,2.47,0.00,0.000,6,0.000,0.034,2640,2305,991
$GC,16318,1.29,445.5,172.5,13.2,784,16322,0.00,2.55,0.00,0.000,4,0.000,0.046,2640,889,991
$GC,16396,1.29,445.5,161.8,13.2,787,16402,0.00,2.47,0.00,0.000,6,0.000,0.033,2640,2308,991
$GC,16712,1.29,445.5,117.7,14.0,803,16716,0.00,2.55,0.00,0.000,4,0.000,0.046,2640,891,991
$GC,16790,1.34,445.5,106.8,13.0,806,16796,0.00,2.45,0.00,0.000,6,0.000,0.033,2640,2300,991
$GC,17106,1.34,445.5,64.8,13.6,822,17110,0.00,2.53,0.00,0.000,4,0.000,0.045,2640,891,991
$GC,17214,1.40,445.5,49.6,13.2,827,17219,0.12,2.45,0.00,0.000,6,0.048,0.033,2679,2300,991
$STATE,17518,end climb,SURFACE_DEPTH_REACHED
$STATE,17518,begin surface coast
$FINISH,0.7,1.025742
$STATE,17542,end surface coast,CONTROL_FINISHED_OK
$STATE,17542,begin surface
$SM_CCo,17626,0.00,0.000,0,0,990,448.16
$SM_GC,1.54,12.35,0.00,0.00,0.084,0.000,0.000,74,2609,990,-10.46,0.25,448.16
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1753
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.6,38.0
$24V_AH,23.5,25.534
$10V_AH,10.1,12.642
$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,28.250,135.425,535.775,0.000,0.000,18.336,27.915,147.052,7.500,0.000,0.000,35.285,1550.788,13311.933,616.127,2012.303,468.558,0.000,1639.671,0.000,1935.759,0.000,52.447,0.000
$DEVICE_MAMPS,184.847,79.001,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.066,575.278,453.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44235,843
$CAP_FILE_SIZE,129383,0
$CFSIZE,260165632,250318848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010709,225625,6352.496,-1339.313,42,1.0,42,-12.8