version: 66.04
glider: 16
mission: 13
dive: 127
start: 6 29 109 3 11 9
data:
$ID,16
$MISSION,13
$DIVE,127
$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,-2109849.2
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,030525,6354.840,-1316.863,43,1.3,43,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.9
$GPS2,031049,6354.924,-1316.793,9,0.9,14,-12.6
$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,161.3,10674,-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,-61.83,0.000,2,0.000,0.000,76,2609,3044
$GC,82,-1.03,-146.6,4.1,-6.4,3,108,12.05,2.55,-7.15,0.000,4,0.189,0.051,2131,1198,3417
$GC,172,-1.03,-146.6,17.8,-9.1,7,176,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2598,3418
$GC,498,-1.03,-146.6,51.4,-10.3,23,503,0.00,2.35,0.00,0.000,4,0.000,0.066,2131,3866,3418
$GC,599,-1.03,-146.6,62.0,-10.3,27,605,0.00,2.17,0.00,0.000,6,0.000,0.026,2131,2572,3418
$GC,915,-1.03,-146.6,93.8,-10.4,43,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,1224,-1.03,-146.6,125.2,-10.3,58,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,1533,-1.03,-146.6,157.4,-10.6,73,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,1843,-1.03,-146.6,190.6,-10.7,88,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2570,3419
$GC,2152,-1.03,-146.6,222.8,-10.2,103,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,2461,-1.03,-146.6,253.8,-9.8,118,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2570,3418
$GC,2770,-1.03,-146.6,285.9,-10.6,133,2774,0.00,2.38,0.00,0.000,4,0.000,0.065,2131,3860,3419
$GC,2808,-1.03,-146.6,290.4,-11.9,134,2814,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2600,3418
$GC,3124,-1.03,-146.6,327.9,-12.5,150,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,3433,-1.03,-146.6,365.7,-12.5,165,3438,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1208,3419
$GC,3467,-1.07,-146.6,370.1,-12.0,166,3473,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2601,3418
$GC,3782,-1.07,-146.6,410.5,-13.0,182,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,4092,-1.07,-146.6,444.5,-9.7,197,4096,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1213,3418
$GC,4119,-1.07,-146.6,447.2,-9.6,198,4123,0.00,2.45,0.00,0.000,6,0.000,0.036,2131,2610,3418
$GC,4434,-1.07,-146.6,474.9,-9.9,213,4442,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1213,3418
$GC,4465,-1.07,-146.6,478.1,-10.4,214,4469,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2599,3418
$GC,4786,-1.07,-146.6,513.4,-11.7,230,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3418
$GC,5095,-1.07,-146.6,549.0,-11.1,245,5100,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1208,3418
$GC,5163,-1.14,-146.6,555.8,-9.8,248,5167,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2600,3418
$GC,5484,-1.14,-146.6,584.9,-9.1,264,5487,0.00,2.33,0.00,0.000,4,0.000,0.070,2131,3858,3418
$GC,5574,-1.14,-146.6,593.7,-9.9,268,5578,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2600,3417
$GC,5907,-1.14,-146.6,621.4,-4.6,284,5911,0.00,2.35,0.00,0.000,4,0.000,0.069,2131,3858,3417
$GC,5991,-1.14,-146.6,624.0,-3.4,288,5995,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2603,3417
$GC,6325,-1.14,-146.6,638.1,-5.8,304,6329,0.00,2.47,0.00,0.000,4,0.000,0.044,2131,1207,3417
$GC,6437,-1.22,-146.6,646.5,-6.4,309,6442,0.17,2.45,0.00,0.000,6,0.043,0.038,2081,2600,3416
$GC,6758,-1.11,-146.6,685.8,-12.4,325,6763,0.17,2.35,0.00,0.000,4,0.100,0.072,2114,3857,3415
$GC,6830,-1.11,-146.6,694.1,-12.2,328,6834,0.00,2.15,0.00,0.000,6,0.000,0.031,2114,2604,3415
$GC,7151,-1.11,-146.6,729.7,-11.6,344,7156,0.00,2.50,0.00,0.000,4,0.000,0.046,2114,1201,3415
$GC,7236,-1.11,-146.6,738.9,-11.1,348,7240,0.00,2.47,0.00,0.000,6,0.000,0.041,2114,2599,3415
$GC,7563,-1.11,-146.6,770.1,-3.7,364,7567,0.00,2.38,0.00,0.000,4,0.000,0.080,2114,3857,3415
$STATE,7796,end dive,NO_VERTICAL_VELOCITY
$STATE,7796,begin apogee
$GC,7806,-0.31,0.0,771.3,0.0,374,7939,0.80,0.00,130.48,1.084,6,0.077,0.000,2289,2313,2817
$STATE,7940,end apogee,CONTROL_FINISHED_OK
$STATE,7940,begin climb
$GC,7943,1.03,146.6,771.5,0.0,381,8082,1.35,2.67,130.80,1.076,4,0.064,0.055,2580,893,2219
$GC,8259,0.95,178.3,756.8,6.4,394,8294,0.00,2.53,28.73,1.025,6,0.000,0.038,2580,2306,2089
$GC,8620,1.06,359.3,741.8,1.3,412,8793,0.00,2.75,164.62,1.066,4,0.000,0.067,2580,3701,1351
$GC,8802,1.23,468.0,737.2,3.8,420,8911,0.22,2.53,97.97,1.049,6,0.050,0.033,2638,2293,908
$GC,9220,1.23,468.0,688.5,16.5,441,9224,0.00,2.58,0.00,0.000,4,0.000,0.056,2638,891,899
$GC,9275,1.23,468.0,677.3,20.2,443,9281,0.00,2.50,0.00,0.000,6,0.000,0.036,2638,2301,898
$GC,9591,1.23,468.0,618.0,18.6,459,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2303,897
$GC,9900,1.23,468.0,567.4,17.8,474,9904,0.00,2.55,0.00,0.000,4,0.000,0.048,2638,895,896
$GC,9949,1.23,468.0,559.1,16.2,476,9953,0.00,2.47,0.00,0.000,6,0.000,0.035,2638,2303,896
$GC,10271,1.23,468.0,511.5,15.3,492,10275,0.00,2.58,0.00,0.000,4,0.000,0.048,2638,889,896
$GC,10382,1.23,468.0,492.3,17.1,497,10386,0.00,2.47,0.00,0.000,6,0.000,0.034,2638,2302,896
$GC,10703,1.23,468.0,442.0,16.9,513,10707,0.00,2.55,0.00,0.000,4,0.000,0.047,2638,895,895
$GC,10825,1.23,468.0,420.5,18.5,518,10831,0.00,2.47,0.00,0.000,6,0.000,0.033,2638,2307,895
$GC,11141,1.23,468.0,365.2,17.6,534,11145,0.00,2.55,0.00,0.000,4,0.000,0.046,2638,888,895
$GC,11236,1.23,468.0,348.4,17.2,538,11240,0.00,2.47,0.00,0.000,6,0.000,0.033,2638,2308,895
$GC,11562,1.23,468.0,294.2,15.7,554,11567,0.00,2.55,0.00,0.000,4,0.000,0.046,2638,894,895
$GC,11670,1.23,468.0,277.2,15.8,559,11674,0.00,2.45,0.00,0.000,6,0.000,0.033,2638,2301,895
$GC,11996,1.23,468.0,227.6,14.8,575,12000,0.00,2.53,0.00,0.000,4,0.000,0.045,2638,894,895
$GC,12103,1.23,468.0,212.1,13.8,580,12107,0.00,2.45,0.00,0.000,6,0.000,0.032,2638,2301,895
$GC,12430,1.23,468.0,162.4,15.5,596,12435,0.00,2.53,0.00,0.000,4,0.000,0.044,2638,894,895
$GC,12525,1.23,468.0,147.2,15.2,600,12530,0.00,2.45,0.00,0.000,6,0.000,0.032,2638,2301,895
$GC,12842,1.23,468.0,98.1,15.7,615,12846,0.00,2.53,0.00,0.000,4,0.000,0.044,2638,893,895
$GC,12949,1.23,468.0,81.1,15.3,620,12953,0.00,2.45,0.00,0.000,6,0.000,0.032,2638,2301,895
$GC,13275,1.23,468.0,35.0,13.3,636,13280,0.00,2.53,0.00,0.000,4,0.000,0.044,2638,894,895
$GC,13365,1.23,468.0,22.5,13.1,640,13369,0.00,2.45,0.00,0.000,6,0.000,0.032,2638,2306,895
$STATE,13526,end climb,SURFACE_DEPTH_REACHED
$STATE,13526,begin surface coast
$FINISH,0.7,1.026544
$STATE,13546,end surface coast,CONTROL_FINISHED_OK
$STATE,13546,begin surface
$SM_CCo,13629,0.00,0.000,0,0,894,471.71
$SM_GC,1.43,11.95,0.00,0.00,0.074,0.000,0.000,71,2605,894,-10.47,0.11,471.71
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1738
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,725.1,63.5
$24V_AH,23.6,23.557
$10V_AH,10.1,11.592
$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,26.725,123.150,552.600,0.000,0.000,18.429,28.258,156.381,6.500,0.000,0.000,14.849,1226.769,10026.139,587.946,1675.737,437.020,0.000,1470.862,0.000,1625.205,0.000,43.139,0.000
$DEVICE_MAMPS,188.682,79.768,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.213,440.445,387.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31609,649
$CAP_FILE_SIZE,106030,0
$CFSIZE,260165632,251179008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290609,065936,6353.119,-1316.113,37,1.3,42,-12.5