version: 66.04
glider: 16
mission: 13
dive: 128
start: 6 29 109 7 6 37
data:
$ID,16
$MISSION,13
$DIVE,128
$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,-2109866
$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,26
$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
$GPS1,065936,6353.119,-1316.113,37,1.3,42,-12.5
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-60.6
$GPS2,070619,6353.112,-1316.230,11,1.8,16,-12.5
$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,151.1,7689,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.88,0.000,2,0.000,0.000,71,2605,3084
$GC,101,-1.03,-146.6,4.0,-4.1,4,126,11.93,2.35,-6.35,0.000,4,0.179,0.077,2132,3846,3417
$GC,177,-0.98,-146.6,17.5,-10.2,7,183,0.00,2.15,0.00,0.000,6,0.000,0.026,2131,2569,3418
$GC,493,-0.98,-146.6,47.2,-9.2,23,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2569,3418
$GC,804,-0.98,-146.6,74.0,-8.6,38,808,0.00,2.40,0.00,0.000,4,0.000,0.039,2132,1209,3418
$GC,853,-0.98,-146.6,78.5,-8.2,40,857,0.00,2.45,0.00,0.000,6,0.000,0.035,2132,2600,3418
$GC,1171,-0.98,-146.6,105.6,-8.7,55,1175,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3860,3418
$GC,1211,-0.98,-146.6,109.5,-9.7,57,1214,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2600,3418
$GC,1543,-0.98,-146.6,139.3,-9.3,73,1547,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1210,3418
$GC,1584,-0.98,-146.6,143.0,-9.6,75,1588,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2602,3419
$GC,1911,-0.98,-146.6,174.7,-10.1,91,1916,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3861,3418
$GC,1944,-0.98,-146.6,178.3,-11.4,92,1947,0.00,2.12,0.00,0.000,6,0.000,0.027,2132,2600,3418
$GC,2265,-0.98,-146.6,210.0,-9.7,108,2269,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1212,3418
$GC,2304,-0.98,-146.6,213.6,-9.3,110,2309,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2608,3419
$GC,2631,-0.98,-146.6,244.0,-9.6,126,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3419
$GC,2941,-0.98,-146.6,273.8,-10.0,141,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,3250,-0.98,-146.6,305.1,-10.2,156,3254,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1217,3418
$GC,3291,-1.03,-146.6,308.9,-9.3,158,3295,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2606,3418
$GC,3617,-1.03,-146.6,341.1,-9.9,174,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3418
$GC,3927,-1.03,-146.6,370.1,-9.2,189,3931,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1215,3418
$GC,3971,-1.08,-146.6,374.4,-9.4,191,3975,0.00,2.42,0.00,0.000,6,0.000,0.036,2132,2599,3417
$GC,4291,-1.08,-146.6,402.7,-8.7,207,4296,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1205,3418
$GC,4321,-1.08,-146.6,405.0,-8.5,208,4325,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2602,3418
$GC,4636,-1.08,-146.6,430.5,-8.2,223,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,4945,-1.08,-146.6,456.9,-8.8,238,4949,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1211,3418
$GC,4979,-1.12,-146.6,459.8,-8.3,239,4984,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2608,3418
$GC,5295,-1.12,-146.6,487.9,-8.7,254,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,5604,-1.12,-146.6,514.7,-8.6,269,5608,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1216,3418
$GC,5637,-1.12,-146.6,517.7,-8.6,270,5643,0.00,2.42,0.00,0.000,6,0.000,0.037,2132,2600,3418
$GC,5953,-1.12,-146.6,544.0,-7.8,286,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,6263,-1.12,-146.6,564.2,-6.2,301,6267,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1207,3417
$GC,6291,-1.12,-146.6,566.1,-6.7,302,6295,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2601,3418
$GC,6612,-1.12,-146.6,587.6,-6.6,318,6616,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1211,3417
$GC,6652,-1.17,-146.6,590.2,-6.3,320,6657,0.12,2.45,0.00,0.000,6,0.047,0.036,2091,2607,3417
$GC,6980,-1.06,-146.6,618.8,-8.8,336,6985,0.17,2.33,0.00,0.000,4,0.099,0.069,2124,3857,3417
$GC,7052,-1.06,-146.6,626.6,-11.6,339,7056,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2595,3418
$GC,7373,-1.06,-146.6,661.6,-10.3,355,7377,0.00,2.35,0.00,0.000,4,0.000,0.067,2124,3857,3417
$GC,7430,-1.06,-146.6,667.8,-10.9,357,7437,0.00,2.12,0.00,0.000,6,0.000,0.028,2124,2606,3418
$GC,7747,-1.06,-146.6,701.5,-11.1,373,7751,0.00,2.47,0.00,0.000,4,0.000,0.045,2124,1211,3417
$GC,7854,-1.13,-146.6,712.6,-9.7,378,7858,0.00,2.42,0.00,0.000,6,0.000,0.038,2124,2599,3417
$GC,8187,-1.13,-146.6,744.6,-9.0,394,8191,0.00,2.45,0.00,0.000,4,0.000,0.041,2124,1209,3417
$GC,8295,-1.17,-146.6,753.1,-8.1,399,8299,0.00,2.45,0.00,0.000,6,0.000,0.039,2124,2598,3416
$GC,8623,-1.17,-146.6,776.5,-7.1,415,8627,0.00,2.47,0.00,0.000,4,0.000,0.042,2124,1204,3416
$GC,8702,-1.23,-146.6,782.3,-7.3,418,8708,0.15,2.47,0.00,0.000,6,0.048,0.040,2081,2600,3416
$GC,9018,-1.12,-146.6,811.5,-9.2,434,9019,0.17,0.00,0.00,0.000,6,0.100,0.000,2114,2600,3415
$GC,9326,-1.12,-146.6,837.9,-9.1,449,9331,0.00,2.47,0.00,0.000,4,0.000,0.045,2114,1211,3414
$GC,9360,-1.12,-146.6,840.5,-8.6,450,9366,0.00,2.47,0.00,0.000,6,0.000,0.042,2114,2605,3414
$STATE,9384,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9384,begin apogee
$GC,9391,-0.31,0.0,843.1,9.4,452,9527,0.88,0.00,131.32,1.129,6,0.106,0.000,2289,2307,2817
$STATE,9528,end apogee,CONTROL_FINISHED_OK
$STATE,9528,begin climb
$GC,9531,1.03,146.6,849.1,0.0,459,9676,1.38,2.78,132.12,1.120,4,0.074,0.072,2579,3705,2218
$GC,9917,0.88,146.6,826.2,9.7,476,9922,0.15,2.45,0.00,0.000,6,0.114,0.033,2553,2314,2213
$GC,10233,0.83,149.3,802.9,7.4,491,10237,0.00,2.60,0.00,0.000,4,0.000,0.054,2553,894,2210
$GC,10255,0.76,149.3,800.7,9.2,492,10260,0.15,2.50,0.00,0.000,6,0.097,0.038,2525,2303,2209
$GC,10576,0.76,149.3,774.3,8.8,508,10580,0.00,2.58,0.00,0.000,4,0.000,0.050,2524,890,2208
$GC,10631,0.76,149.3,769.2,9.5,510,10637,0.00,2.50,0.00,0.000,6,0.000,0.037,2524,2301,2207
$GC,10947,0.76,149.3,740.3,9.8,526,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2302,2207
$GC,11256,0.76,149.3,711.3,8.7,541,11261,0.00,2.55,0.00,0.000,4,0.000,0.048,2525,895,2207
$GC,11351,0.76,149.3,703.7,7.6,545,11356,0.00,2.50,0.00,0.000,6,0.000,0.038,2525,2309,2205
$GC,11667,0.85,232.6,686.6,4.7,560,11749,0.10,0.00,76.47,1.036,6,0.060,0.000,2555,2309,1867
$GC,12062,0.85,232.6,656.1,8.7,579,12066,0.00,2.58,0.00,0.000,4,0.000,0.048,2555,892,1859
$GC,12128,0.85,232.6,648.5,10.7,582,12132,0.00,2.50,0.00,0.000,6,0.000,0.035,2555,2308,1857
$GC,12449,0.85,232.6,619.7,8.1,598,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2308,1857
$GC,12759,0.92,253.3,596.8,6.8,613,12783,0.00,2.67,18.42,0.918,4,0.000,0.061,2555,3701,1783
$GC,12818,0.92,253.3,592.2,9.0,615,12825,0.00,2.47,0.00,0.000,6,0.000,0.029,2555,2294,1782
$GC,13135,0.97,253.3,567.6,8.2,631,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1780
$GC,13444,1.03,253.3,542.7,8.2,646,13449,0.15,2.60,0.00,0.000,4,0.056,0.058,2594,3707,1780
$GC,13471,0.97,253.3,539.8,10.4,647,13476,0.12,2.45,0.00,0.000,6,0.108,0.028,2572,2298,1780
$GC,13787,0.97,253.3,513.2,8.3,662,13791,0.00,2.50,0.00,0.000,4,0.000,0.048,2572,898,1779
$GC,13820,0.97,253.3,510.2,8.7,663,13824,0.00,2.47,0.00,0.000,6,0.000,0.034,2572,2311,1778
$GC,14136,0.97,253.3,483.6,8.8,678,14140,0.00,2.55,0.00,0.000,4,0.000,0.058,2572,3705,1779
$GC,14163,0.97,253.3,481.0,9.3,679,14167,0.00,2.45,0.00,0.000,6,0.000,0.028,2572,2293,1779
$GC,14478,0.97,253.3,454.1,8.5,694,14479,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2293,1778
$GC,14787,0.97,253.3,424.9,9.7,709,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2293,1779
$GC,15097,0.97,253.3,392.9,10.1,724,15101,0.00,2.58,0.00,0.000,4,0.000,0.058,2572,3701,1780
$GC,15124,0.97,253.3,389.9,10.9,725,15128,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2298,1779
$GC,15439,0.97,253.3,358.3,9.6,740,15443,0.00,2.47,0.00,0.000,4,0.000,0.045,2572,901,1779
$GC,15455,0.97,253.3,356.7,9.1,740,15462,0.00,2.45,0.00,0.000,6,0.000,0.033,2572,2309,1779
$GC,15772,0.97,253.3,327.4,9.2,756,15776,0.00,2.55,0.00,0.000,4,0.000,0.058,2573,3707,1780
$GC,15805,0.97,253.3,323.9,9.7,757,15809,0.00,2.45,0.00,0.000,6,0.000,0.028,2572,2293,1779
$GC,16121,0.97,253.3,293.4,10.0,772,16124,0.00,2.47,0.00,0.000,4,0.000,0.044,2572,893,1780
$GC,16144,0.97,253.3,291.0,10.2,773,16148,0.00,2.45,0.00,0.000,6,0.000,0.033,2572,2302,1779
$GC,16470,0.97,253.3,257.7,9.9,789,16474,0.00,2.55,0.00,0.000,4,0.000,0.058,2572,3700,1780
$GC,16504,0.97,253.3,254.2,10.6,790,16510,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2293,1780
$GC,16820,0.97,253.3,224.0,9.1,806,16821,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2292,1780
$GC,17129,0.97,253.3,197.0,8.6,821,17133,0.00,2.58,0.00,0.000,4,0.000,0.056,2572,3700,1779
$GC,17150,0.97,253.3,194.9,8.6,822,17155,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2296,1780
$GC,17472,0.97,253.3,167.1,8.7,838,17473,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2296,1780
$GC,17781,0.97,253.3,139.3,9.0,853,17786,0.00,2.58,0.00,0.000,4,0.000,0.056,2572,3702,1780
$GC,17821,0.97,253.3,135.3,9.9,855,17825,0.00,2.40,0.00,0.000,6,0.000,0.028,2572,2299,1781
$GC,18155,0.97,253.3,105.0,8.7,871,18159,0.00,2.50,0.00,0.000,4,0.000,0.044,2572,892,1780
$GC,18182,0.97,253.3,102.2,10.0,872,18186,0.00,2.45,0.00,0.000,6,0.000,0.033,2572,2304,1780
$GC,18500,0.97,253.3,75.6,8.1,887,18504,0.00,2.50,0.00,0.000,4,0.000,0.043,2572,895,1780
$GC,18595,0.97,253.3,67.4,9.0,891,18599,0.00,2.45,0.00,0.000,6,0.000,0.033,2572,2304,1781
$GC,18912,0.97,253.3,42.1,7.7,906,18916,0.00,2.55,0.00,0.000,4,0.000,0.058,2572,3701,1780
$GC,18967,0.97,253.3,37.1,8.7,908,18974,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2293,1780
$GC,19284,1.02,253.3,11.7,8.0,924,19288,0.00,2.58,0.00,0.000,4,0.000,0.055,2572,3704,1781
$GC,19373,1.02,253.3,3.9,8.8,928,19377,0.00,2.42,0.00,0.000,6,0.000,0.028,2572,2296,1781
$STATE,19382,end climb,SURFACE_DEPTH_REACHED
$STATE,19382,begin surface coast
$FINISH,1.4,1.026635
$STATE,19404,end surface coast,CONTROL_FINISHED_OK
$STATE,19404,begin surface
$SM_CCo,19487,0.00,0.000,0,0,1777,255.11
$SM_GC,1.60,11.73,0.00,0.00,0.080,0.000,0.000,73,2607,1777,-10.47,0.23,255.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1731
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.1,76.7
$24V_AH,23.6,23.687
$10V_AH,10.1,11.680
$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,27.200,192.325,358.350,0.000,0.000,18.064,28.737,245.794,6.750,0.000,0.000,15.995,1733.540,14971.925,527.024,2065.464,593.595,0.000,1590.712,0.000,2010.815,0.000,46.414,0.000
$DEVICE_MAMPS,179.478,76.700,1129.024,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.820,635.039,543.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47349,930
$CAP_FILE_SIZE,147901,0
$CFSIZE,260165632,251068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290609,123237,6351.329,-1317.323,37,1.4,37,-12.5