version: 66.04
glider: 16
mission: 13
dive: 145
start: 7 2 109 9 7 31
data:
$ID,16
$MISSION,13
$DIVE,145
$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,360
$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,-2110159.5
$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,34
$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
$GPS1,090206,6352.361,-1344.893,37,1.3,43,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.8
$GPS2,090713,6352.376,-1344.812,11,1.6,16,-12.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6403.175,-1344.812
$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,12.8,20000,-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,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.78,0.000,2,0.000,0.000,72,2608,3358
$GC,82,-1.03,-146.6,5.5,-9.0,3,104,11.82,2.55,-0.95,0.000,4,0.180,0.052,2133,1197,3417
$GC,323,-1.03,-146.6,39.2,-9.2,13,330,0.00,2.45,0.00,0.000,6,0.000,0.035,2133,2597,3419
$GC,639,-1.03,-146.6,70.9,-10.9,29,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2597,3419
$GC,950,-1.03,-146.6,105.3,-11.2,44,954,0.00,2.47,0.00,0.000,4,0.000,0.037,2133,1191,3420
$GC,999,-1.03,-146.6,110.4,-9.3,46,1004,0.00,2.47,0.00,0.000,6,0.000,0.035,2133,2600,3420
$GC,1317,-1.03,-146.6,137.6,-8.0,61,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3419
$GC,1625,-1.03,-146.6,162.6,-7.4,76,1629,0.00,2.33,0.00,0.000,4,0.000,0.064,2133,3863,3420
$GC,1681,-1.03,-146.6,168.0,-10.2,78,1687,0.00,2.17,0.00,0.000,6,0.000,0.026,2133,2572,3420
$GC,1997,-1.03,-146.6,195.8,-8.9,94,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2570,3420
$GC,2306,-1.03,-146.6,224.0,-9.1,109,2310,0.00,2.38,0.00,0.000,4,0.000,0.064,2134,3860,3420
$GC,2346,-1.03,-146.6,227.9,-9.7,111,2351,0.00,2.10,0.00,0.000,6,0.000,0.026,2133,2598,3420
$GC,2679,-1.03,-146.6,255.6,-9.0,127,2683,0.00,2.42,0.00,0.000,4,0.000,0.038,2133,1215,3420
$GC,2729,-1.08,-146.6,260.3,-9.2,129,2733,0.00,2.42,0.00,0.000,6,0.000,0.035,2133,2601,3420
$GC,3044,-1.08,-146.6,288.1,-10.6,144,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3420
$GC,3354,-1.08,-146.6,318.1,-7.3,159,3358,0.00,2.33,0.00,0.000,4,0.000,0.067,2133,3861,3420
$GC,3404,-1.08,-146.6,321.4,-6.3,161,3408,0.00,2.10,0.00,0.000,6,0.000,0.026,2133,2602,3419
$GC,3725,-1.08,-146.6,345.9,-7.1,177,3729,0.00,2.42,0.00,0.000,4,0.000,0.036,2133,1208,3420
$GC,3841,-1.08,-146.6,353.8,-7.7,182,3846,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2601,3419
$GC,4158,-1.12,-146.6,371.8,-5.3,197,4162,0.00,2.45,0.00,0.000,4,0.000,0.039,2133,1209,3418
$GC,4253,-1.18,-146.6,379.7,-7.8,201,4258,0.15,2.45,0.00,0.000,6,0.044,0.035,2088,2612,3418
$GC,4570,-1.09,-146.6,416.7,-13.5,216,4574,0.17,2.33,0.00,0.000,4,0.097,0.069,2121,3861,3417
$GC,4638,-1.09,-146.6,425.4,-11.2,219,4642,0.00,2.12,0.00,0.000,6,0.000,0.027,2121,2601,3417
$GC,4965,-1.09,-146.6,445.1,-6.0,235,4969,0.00,2.45,0.00,0.000,4,0.000,0.041,2121,1211,3417
$GC,5015,-1.09,-146.6,447.9,-4.0,237,5019,0.00,2.42,0.00,0.000,6,0.000,0.038,2121,2600,3417
$GC,5336,-1.09,-146.6,473.6,-8.9,253,5340,0.00,2.45,0.00,0.000,4,0.000,0.042,2121,1216,3415
$GC,5369,-1.15,-146.6,476.2,-7.5,254,5375,0.00,2.45,0.00,0.000,6,0.000,0.037,2121,2610,3414
$GC,5685,-1.15,-146.6,502.3,-9.3,270,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2611,3414
$GC,5995,-1.72,-146.6,522.7,0.0,285,5997,0.62,0.00,0.00,0.000,6,0.062,0.000,1984,2612,3414
$STATE,6197,end dive,NO_VERTICAL_VELOCITY
$STATE,6197,begin apogee
$GC,6205,-0.31,0.0,522.9,0.0,295,6335,1.42,0.00,126.22,0.950,6,0.064,0.000,2295,2321,2817
$STATE,6336,end apogee,CONTROL_FINISHED_OK
$STATE,6336,begin climb
$GC,6339,1.03,146.6,522.8,0.0,301,6476,1.35,2.67,128.20,0.935,4,0.077,0.048,2580,901,2217
$GC,6696,1.07,247.6,503.5,4.0,317,6790,0.00,2.50,88.72,0.921,6,0.000,0.037,2580,2306,1807
$GC,7100,1.24,409.8,489.8,2.0,337,7253,0.20,2.75,143.55,0.920,4,0.051,0.067,2635,3702,1144
$GC,7272,1.25,418.9,479.7,7.2,345,7289,0.00,2.50,9.23,0.772,6,0.000,0.032,2637,2302,1106
$GC,7598,1.25,418.9,450.2,11.3,361,7602,0.00,2.55,0.00,0.000,4,0.000,0.054,2637,896,1099
$GC,7670,1.25,418.9,442.7,9.0,364,7674,0.00,2.50,0.00,0.000,6,0.000,0.038,2637,2299,1097
$GC,7985,1.25,418.9,410.6,10.4,379,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2300,1097
$GC,8295,1.25,418.9,370.3,11.2,394,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2301,1095
$GC,8604,1.25,418.9,333.2,10.9,409,8608,0.00,2.58,0.00,0.000,4,0.000,0.052,2637,888,1095
$GC,8717,1.30,418.9,316.8,16.5,414,8721,0.00,2.50,0.00,0.000,6,0.000,0.036,2637,2302,1094
$GC,9038,1.30,418.9,279.2,11.7,430,9042,0.00,2.58,0.00,0.000,4,0.000,0.050,2637,888,1094
$GC,9105,1.35,418.9,271.2,12.3,433,9109,0.00,2.47,0.00,0.000,6,0.000,0.035,2637,2302,1094
$GC,9425,1.35,418.9,234.6,11.5,449,9429,0.00,2.55,0.00,0.000,4,0.000,0.048,2637,894,1094
$GC,9482,1.41,418.9,227.9,12.2,451,9489,0.15,2.47,0.00,0.000,6,0.065,0.035,2670,2299,1094
$GC,9798,1.37,418.9,180.7,14.2,467,9802,0.00,2.55,0.00,0.000,4,0.000,0.048,2671,888,1093
$GC,9893,1.37,418.9,167.2,14.4,471,9897,0.00,2.47,0.00,0.000,6,0.000,0.034,2671,2301,1094
$GC,10209,1.30,418.9,125.5,13.2,486,10214,0.15,2.53,0.00,0.000,4,0.100,0.046,2642,894,1094
$GC,10298,1.30,418.9,114.8,11.0,490,10303,0.00,2.47,0.00,0.000,6,0.000,0.034,2642,2309,1093
$GC,10620,1.30,418.9,74.1,13.3,506,10624,0.00,2.55,0.00,0.000,4,0.000,0.046,2642,888,1094
$GC,10721,1.30,418.9,60.3,13.3,510,10727,0.00,2.45,0.00,0.000,6,0.000,0.034,2642,2300,1094
$GC,11037,1.30,418.9,22.8,11.2,526,11041,0.00,2.53,0.00,0.000,4,0.000,0.045,2642,890,1094
$GC,11109,1.35,418.9,15.1,10.8,529,11113,0.00,2.47,0.00,0.000,6,0.000,0.032,2642,2310,1094
$STATE,11216,end climb,SURFACE_DEPTH_REACHED
$STATE,11216,begin surface coast
$FINISH,0.8,1.021153
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11323,0.00,0.000,0,0,1093,422.90
$SM_GC,1.60,12.40,0.00,0.00,0.094,0.000,0.000,73,2605,1093,-10.46,0.14,422.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1789
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.7,26.089
$10V_AH,10.1,12.877
$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,28.450,103.825,495.925,0.000,0.000,18.004,26.245,155.735,4.000,0.000,0.000,16.401,1031.765,8289.610,544.033,1372.187,398.030,0.000,1268.573,0.000,1334.059,0.000,28.301,0.000
$DEVICE_MAMPS,180.245,69.030,950.313,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.889,361.595,360.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28529,535
$CAP_FILE_SIZE,90020,0
$CFSIZE,260165632,250175488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020709,121736,6352.242,-1343.636,41,1.2,46,-12.8