version: 66.04
glider: 16
mission: 13
dive: 117
start: 6 27 109 5 51 20
data:
$ID,16
$MISSION,13
$DIVE,117
$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,-2109698.5
$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,29
$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
$GPS1,054606,6346.540,-1306.965,31,1.1,31,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.0
$GPS2,055102,6346.494,-1307.121,12,1.3,12,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KW
$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,352.5,6905,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,2,0.000,0.000,78,2608,3016
$GC,84,-1.03,-146.6,4.1,-6.1,3,110,12.00,2.35,-7.85,0.000,4,0.189,0.077,2130,3862,3417
$GC,257,-0.99,-146.6,25.9,-9.2,10,263,0.00,2.17,0.00,0.000,6,0.000,0.027,2130,2569,3417
$GC,574,-0.99,-146.6,57.4,-11.6,26,578,0.00,2.38,0.00,0.000,4,0.000,0.061,2130,3857,3418
$GC,674,-0.99,-146.6,70.3,-13.0,30,681,0.00,2.15,0.00,0.000,6,0.000,0.027,2130,2598,3418
$GC,990,-0.99,-146.6,109.4,-12.0,46,994,0.00,2.33,0.00,0.000,4,0.000,0.063,2130,3857,3418
$GC,1030,-0.99,-146.6,114.2,-12.5,48,1033,0.00,2.12,0.00,0.000,6,0.000,0.028,2130,2597,3418
$GC,1364,-0.99,-146.6,151.8,-10.6,64,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3418
$GC,1671,-0.99,-146.6,182.2,-8.7,79,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3417
$GC,1981,-0.99,-146.6,207.5,-8.3,94,1985,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1215,3418
$GC,2025,-0.99,-146.6,211.5,-9.0,96,2029,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2598,3418
$GC,2346,-0.99,-146.6,241.7,-9.8,112,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3418
$GC,2655,-0.99,-146.6,274.9,-11.1,127,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3418
$GC,2964,-0.99,-146.6,312.0,-12.5,142,2968,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1208,3418
$GC,3004,-0.99,-146.6,317.1,-12.2,144,3008,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2605,3418
$GC,3330,-0.99,-146.6,357.1,-12.2,160,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,3640,-0.99,-146.6,392.7,-11.1,175,3644,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1214,3418
$GC,3673,-0.99,-146.6,396.3,-10.4,176,3679,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2599,3418
$GC,3988,-0.99,-146.6,428.8,-10.1,192,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4298,-0.99,-146.6,457.6,-8.5,207,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4607,-0.99,-146.6,484.9,-9.2,222,4611,0.00,2.45,0.00,0.000,4,0.000,0.039,2130,1205,3418
$GC,4646,-1.03,-146.6,488.8,-10.1,224,4651,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2602,3418
$GC,4973,-1.03,-146.6,521.2,-9.9,240,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,5283,-1.03,-146.6,550.2,-9.0,255,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,5592,-1.03,-146.6,573.0,-6.4,270,5596,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1206,3418
$GC,5648,-1.07,-146.6,576.3,-5.4,272,5652,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2603,3417
$GC,5964,-1.07,-146.6,595.0,-6.7,287,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,6273,-1.07,-146.6,618.5,-7.8,302,6277,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1211,3417
$GC,6313,-1.12,-146.6,621.8,-8.7,304,6317,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2609,3417
$GC,6639,-1.12,-146.6,647.2,-7.1,320,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3417
$GC,6949,-1.12,-146.6,666.9,-6.9,335,6953,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1208,3417
$GC,6995,-1.18,-146.6,670.5,-8.0,337,7000,0.12,2.45,0.00,0.000,6,0.047,0.038,2091,2602,3417
$GC,7323,-1.10,-146.6,701.8,-9.1,353,7325,0.15,0.00,0.00,0.000,6,0.099,0.000,2120,2602,3417
$GC,7631,-1.10,-146.6,726.1,-7.6,368,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2603,3416
$GC,7940,-1.10,-146.6,749.7,-8.2,383,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2602,3415
$STATE,8102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8103,begin apogee
$GC,8109,-0.31,0.0,765.0,8.9,391,8245,0.85,0.00,129.85,1.048,6,0.100,0.000,2292,2301,2817
$STATE,8246,end apogee,CONTROL_FINISHED_OK
$STATE,8246,begin climb
$GC,8249,1.03,146.6,769.8,0.0,398,8384,1.35,0.00,130.77,1.037,6,0.077,0.000,2576,2301,2219
$GC,8683,0.96,146.6,747.6,7.8,419,8687,0.00,2.62,0.00,0.000,4,0.000,0.065,2576,3703,2213
$GC,8755,0.86,146.6,742.1,8.3,422,8760,0.15,2.45,0.00,0.000,6,0.112,0.031,2550,2311,2211
$GC,9071,0.87,155.6,720.7,7.2,437,9085,0.00,2.62,8.23,0.838,4,0.000,0.051,2550,906,2181
$GC,9131,0.87,155.6,715.7,8.8,439,9137,0.00,2.47,0.00,0.000,6,0.000,0.036,2549,2304,2179
$GC,9446,0.87,155.6,690.4,8.1,455,9450,0.00,2.60,0.00,0.000,4,0.000,0.064,2550,3698,2180
$GC,9496,0.79,155.6,685.8,9.4,457,9500,0.00,2.45,0.00,0.000,6,0.000,0.029,2550,2297,2179
$GC,9812,0.79,155.6,657.9,9.0,472,9816,0.00,2.53,0.00,0.000,4,0.000,0.051,2549,901,2178
$GC,9879,0.81,172.2,652.5,6.9,475,9900,0.00,2.47,15.80,0.907,6,0.000,0.035,2550,2305,2115
$GC,10222,0.86,217.7,631.6,5.9,492,10271,0.00,2.65,42.35,0.953,4,0.000,0.045,2549,898,1928
$GC,10312,0.86,217.7,625.2,8.4,496,10316,0.00,2.47,0.00,0.000,6,0.000,0.035,2549,2300,1925
$GC,10638,0.86,217.7,596.5,9.2,512,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2300,1923
$GC,10948,0.92,232.6,571.7,7.0,527,10970,0.00,2.67,13.68,0.848,4,0.000,0.061,2550,3698,1868
$GC,11039,0.92,232.6,565.3,7.7,531,11043,0.00,2.45,0.00,0.000,6,0.000,0.029,2549,2297,1867
$GC,11365,1.05,302.8,548.2,5.1,547,11438,0.17,2.58,65.32,0.907,4,0.051,0.048,2598,901,1580
$GC,11478,1.05,302.8,538.6,9.7,552,11482,0.00,2.47,0.00,0.000,6,0.000,0.034,2597,2304,1577
$GC,11798,1.05,302.8,506.3,10.5,568,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2304,1574
$GC,12108,1.05,302.8,472.1,11.3,583,12112,0.00,2.53,0.00,0.000,4,0.000,0.044,2597,898,1573
$GC,12152,1.05,302.8,466.9,11.4,585,12156,0.00,2.47,0.00,0.000,6,0.000,0.034,2597,2308,1571
$GC,12473,1.05,302.8,432.4,10.1,601,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2308,1571
$GC,12783,1.05,302.8,403.4,9.1,616,12787,0.00,2.53,0.00,0.000,4,0.000,0.044,2597,898,1571
$GC,12861,1.05,302.8,396.0,8.9,619,12867,0.00,2.45,0.00,0.000,6,0.000,0.034,2597,2301,1570
$GC,13176,1.05,302.8,368.3,9.2,635,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2301,1570
$GC,13486,1.05,302.8,335.8,11.2,650,13489,0.00,2.50,0.00,0.000,4,0.000,0.044,2597,898,1571
$GC,13531,1.05,302.8,330.6,11.5,652,13535,0.00,2.45,0.00,0.000,6,0.000,0.034,2597,2304,1570
$GC,13857,1.05,302.8,294.2,10.9,668,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2304,1570
$GC,14167,1.05,302.8,261.0,11.2,683,14171,0.00,2.53,0.00,0.000,4,0.000,0.043,2597,890,1570
$GC,14239,1.05,302.8,252.6,11.2,686,14243,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2299,1570
$GC,14554,1.05,302.8,218.4,10.7,701,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2299,1570
$GC,14864,1.05,302.8,186.3,9.9,716,14868,0.00,2.50,0.00,0.000,4,0.000,0.044,2597,898,1570
$GC,14908,1.05,302.8,181.7,10.8,718,14912,0.00,2.45,0.00,0.000,6,0.000,0.034,2597,2304,1570
$GC,15228,1.05,302.8,152.3,9.2,734,15232,0.00,2.53,0.00,0.000,4,0.000,0.043,2597,889,1570
$GC,15268,1.05,302.8,148.5,9.1,736,15273,0.00,2.45,0.00,0.000,6,0.000,0.034,2598,2298,1570
$GC,15596,1.05,302.8,118.2,9.1,752,15600,0.00,2.50,0.00,0.000,4,0.000,0.043,2597,894,1570
$GC,15641,1.05,302.8,113.7,9.4,754,15645,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2302,1570
$GC,15963,1.05,302.8,85.6,8.7,770,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2302,1570
$GC,16271,1.05,302.8,57.5,9.1,785,16276,0.00,2.50,0.00,0.000,4,0.000,0.043,2597,897,1570
$GC,16321,1.05,302.8,53.0,8.2,787,16325,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2309,1570
$GC,16643,1.05,302.8,30.6,7.7,803,16648,0.00,2.53,0.00,0.000,4,0.000,0.043,2597,891,1570
$GC,16738,1.05,302.8,22.0,9.0,807,16742,0.00,2.45,0.00,0.000,6,0.000,0.033,2597,2305,1570
$STATE,16954,end climb,SURFACE_DEPTH_REACHED
$STATE,16954,begin surface coast
$FINISH,0.8,1.015788
$STATE,16976,end surface coast,CONTROL_FINISHED_OK
$STATE,16976,begin surface
$SM_CCo,17060,0.00,0.000,0,0,1568,306.13
$SM_GC,1.53,12.12,0.00,0.00,0.093,0.000,0.000,77,2604,1568,-10.46,0.14,306.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1734
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.6,23.3
$24V_AH,23.6,22.151
$10V_AH,10.1,10.868
$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,26.925,128.925,406.000,0.000,0.000,18.012,26.750,138.889,6.750,0.000,0.000,12.161,1488.378,13144.466,505.409,1774.440,444.176,0.000,1404.768,0.000,1731.624,0.000,47.557,0.000
$DEVICE_MAMPS,188.682,77.467,1047.722,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.060,567.185,485.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41321,819
$CAP_FILE_SIZE,119123,0
$CFSIZE,260165632,251727872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270609,103700,6348.826,-1310.154,39,1.1,44,-12.4