version: 66.04
glider: 16
mission: 13
dive: 131
start: 6 29 109 22 17 14
data:
$ID,16
$MISSION,13
$DIVE,131
$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,-2109929.8
$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,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
$GPS1,221206,6349.831,-1315.520,36,1.0,36,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-67.9
$GPS2,221656,6349.834,-1315.620,13,1.4,13,-12.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,K1
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,2500.000
$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,98.7,4600,-20.4,-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,-1.35,-72.6,0.0,0.0,0,68,0.00,0.00,-48.67,0.000,6,0.000,0.000,73,2610,3113
$GC,71,-1.35,-72.6,3.8,-8.9,2,93,11.48,2.35,0.00,0.000,4,0.182,0.059,2064,3862,3115
$GC,346,-1.30,-72.6,46.5,-11.0,14,350,0.00,2.17,0.00,0.000,6,0.000,0.026,2064,2578,3115
$GC,667,-1.30,-72.6,81.2,-10.6,30,671,0.00,2.38,0.00,0.000,4,0.000,0.061,2064,3865,3115
$GC,888,-1.24,-72.6,105.1,-10.0,40,892,0.12,2.15,0.00,0.000,6,0.112,0.028,2087,2591,3115
$GC,1215,-1.29,-72.6,136.9,-10.7,56,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2591,3116
$GC,1524,-1.35,-72.6,173.5,-11.9,71,1528,0.00,2.35,0.00,0.000,4,0.000,0.062,2087,3863,3117
$GC,1574,-1.35,-72.6,180.1,-13.0,73,1578,0.00,2.12,0.00,0.000,6,0.000,0.027,2087,2600,3116
$GC,1896,-1.41,-72.6,217.2,-11.5,89,1901,0.15,2.33,0.00,0.000,4,0.046,0.061,2043,3860,3117
$GC,1952,-1.30,-72.6,225.1,-14.8,91,1959,0.17,2.12,0.00,0.000,6,0.108,0.028,2075,2600,3117
$GC,2268,-1.30,-72.6,263.9,-12.4,107,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2600,3117
$GC,2578,-1.30,-72.6,303.2,-12.8,122,2581,0.00,2.42,0.00,0.000,4,0.000,0.041,2075,1210,3117
$GC,2606,-1.35,-72.6,307.1,-13.8,123,2610,0.00,2.42,0.00,0.000,6,0.000,0.036,2075,2597,3117
$GC,2927,-1.35,-72.6,347.2,-11.7,139,2931,0.00,2.33,0.00,0.000,4,0.000,0.066,2075,3858,3116
$GC,2967,-1.35,-72.6,352.3,-12.6,141,2971,0.00,2.12,0.00,0.000,6,0.000,0.028,2075,2597,3116
$GC,3300,-1.35,-72.6,389.3,-10.8,157,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2596,3116
$GC,3609,-1.35,-72.6,420.7,-9.8,172,3613,0.00,2.35,0.00,0.000,4,0.000,0.066,2075,3864,3117
$GC,3648,-1.35,-72.6,424.6,-9.9,174,3653,0.00,2.12,0.00,0.000,6,0.000,0.028,2075,2600,3116
$GC,3980,-1.35,-72.6,456.1,-9.7,190,3984,0.00,2.45,0.00,0.000,4,0.000,0.041,2075,1209,3116
$GC,4013,-1.42,-72.6,459.5,-9.8,191,4020,0.12,2.45,0.00,0.000,6,0.051,0.036,2040,2609,3116
$GC,4329,-1.35,-72.6,493.1,-10.1,207,4334,0.12,2.30,0.00,0.000,4,0.113,0.067,2061,3855,3116
$GC,4368,-1.31,-72.6,497.1,-9.8,208,4374,0.00,2.12,0.00,0.000,6,0.000,0.028,2060,2595,3116
$GC,4684,-1.31,-72.6,523.1,-8.1,224,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2594,3116
$GC,4994,-1.31,-72.6,548.6,-8.6,239,4998,0.00,2.35,0.00,0.000,4,0.000,0.066,2061,3862,3116
$GC,5066,-1.31,-72.6,555.9,-9.9,242,5070,0.00,2.12,0.00,0.000,6,0.000,0.028,2061,2602,3116
$GC,5387,-1.31,-72.6,583.0,-8.1,258,5391,0.00,2.33,0.00,0.000,4,0.000,0.067,2062,3857,3115
$GC,5443,-1.31,-72.6,587.7,-8.2,260,5449,0.00,2.12,0.00,0.000,6,0.000,0.029,2061,2592,3116
$GC,5760,-1.32,-76.5,610.8,-7.2,276,5764,0.00,2.42,0.00,0.000,4,0.000,0.042,2061,1215,3116
$GC,5845,-1.37,-80.5,617.2,-7.2,280,5849,0.00,2.42,0.00,0.000,6,0.000,0.038,2061,2603,3115
$GC,6178,-1.37,-80.5,643.0,-8.3,296,6182,0.00,2.45,0.00,0.000,4,0.000,0.041,2062,1213,3116
$GC,6211,-1.37,-80.5,646.1,-8.9,297,6217,0.00,2.45,0.00,0.000,6,0.000,0.038,2061,2609,3115
$GC,6526,-1.37,-80.5,679.0,-10.5,313,6531,0.00,2.33,0.00,0.000,4,0.000,0.071,2061,3858,3115
$GC,6621,-1.37,-80.5,691.1,-13.3,317,6625,0.00,2.12,0.00,0.000,6,0.000,0.029,2061,2603,3115
$GC,6945,-1.37,-80.5,726.1,-10.6,333,6949,0.00,2.47,0.00,0.000,4,0.000,0.044,2061,1205,3115
$GC,7138,-1.43,-80.5,745.3,-9.7,341,7144,0.00,2.45,0.00,0.000,6,0.000,0.039,2061,2597,3115
$GC,7453,-1.43,-80.5,774.5,-9.0,357,7461,0.00,2.35,0.00,0.000,4,0.000,0.074,2061,3857,3114
$GC,7503,-1.43,-80.5,779.3,-10.5,359,7507,0.00,2.15,0.00,0.000,6,0.000,0.032,2061,2610,3114
$GC,7835,-1.43,-80.5,811.4,-9.8,375,7839,0.00,2.53,0.00,0.000,4,0.000,0.050,2061,1200,3114
$GC,7879,-1.50,-80.5,815.5,-9.3,377,7884,0.12,2.47,0.00,0.000,6,0.055,0.042,2028,2597,3114
$STATE,8157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8157,begin apogee
$GC,8164,-0.31,0.0,846.6,10.3,391,8238,1.35,0.00,66.10,1.131,6,0.123,0.000,2288,2294,2816
$STATE,8239,end apogee,CONTROL_FINISHED_OK
$STATE,8239,begin climb
$GC,8242,1.36,80.5,848.4,0.0,395,8326,1.75,2.60,75.38,1.121,4,0.082,0.051,2657,898,2487
$GC,8395,1.23,98.5,843.0,6.3,402,8418,0.15,2.53,17.33,1.039,6,0.103,0.038,2630,2306,2415
$GC,8728,1.16,117.8,820.7,6.2,418,8753,0.00,2.72,18.25,1.038,4,0.000,0.069,2630,3699,2336
$GC,8850,1.02,117.8,811.4,7.9,423,8855,0.25,2.47,0.00,0.000,6,0.117,0.033,2585,2305,2335
$GC,9166,1.12,141.5,794.1,5.9,438,9191,0.00,0.00,23.02,1.048,6,0.000,0.000,2584,2305,2240
$GC,9495,1.21,141.5,767.1,9.5,454,9500,0.17,2.62,0.00,0.000,4,0.051,0.065,2633,3705,2236
$GC,9573,1.09,141.5,757.6,12.7,457,9580,0.20,2.47,0.00,0.000,6,0.114,0.032,2597,2293,2236
$GC,9890,1.15,141.5,720.9,12.3,473,9893,0.00,2.53,0.00,0.000,4,0.000,0.051,2597,897,2234
$GC,10007,1.19,141.5,704.9,12.8,478,10012,0.10,2.50,0.00,0.000,6,0.058,0.038,2625,2309,2232
$GC,10328,1.19,141.5,658.4,14.5,494,10333,0.00,2.60,0.00,0.000,4,0.000,0.062,2625,3708,2233
$GC,10401,1.12,141.5,647.8,14.4,497,10406,0.12,2.47,0.00,0.000,6,0.127,0.031,2605,2294,2233
$GC,10717,1.18,141.5,608.0,12.3,512,10721,0.00,2.53,0.00,0.000,4,0.000,0.050,2605,895,2231
$GC,10831,1.18,141.5,595.1,10.7,517,10835,0.00,2.47,0.00,0.000,6,0.000,0.035,2605,2303,2231
$GC,11152,1.24,141.5,566.0,7.9,533,11157,0.12,2.53,0.00,0.000,4,0.054,0.045,2640,897,2231
$GC,11208,1.18,141.5,561.0,8.9,535,11215,0.12,2.45,0.00,0.000,6,0.106,0.035,2617,2304,2231
$GC,11524,1.19,147.0,538.3,7.1,551,11534,0.00,2.60,5.60,0.711,4,0.000,0.059,2618,3706,2216
$GC,11602,1.19,147.0,532.0,7.8,554,11608,0.00,2.45,0.00,0.000,6,0.000,0.029,2618,2296,2216
$GC,11918,1.22,177.6,513.4,5.4,570,11949,0.00,0.00,29.10,0.902,6,0.000,0.000,2617,2296,2092
$GC,12248,1.31,195.8,492.3,6.2,586,12271,0.12,2.67,17.02,0.852,4,0.054,0.057,2655,3698,2018
$GC,12295,1.24,195.8,488.3,9.1,588,12300,0.15,2.45,0.00,0.000,6,0.104,0.028,2628,2293,2017
$GC,12621,1.30,195.8,463.0,8.1,604,12625,0.00,2.50,0.00,0.000,4,0.000,0.047,2628,897,2014
$GC,12668,1.35,195.8,458.9,8.4,606,12673,0.12,2.45,0.00,0.000,6,0.052,0.034,2666,2300,2012
$GC,12995,1.31,195.8,423.3,12.0,622,13000,0.12,2.58,0.00,0.000,4,0.108,0.058,2644,3700,2012
$GC,13028,1.31,195.8,418.9,13.3,623,13034,0.00,2.42,0.00,0.000,6,0.000,0.028,2644,2298,2012
$GC,13344,1.31,195.8,380.8,12.5,639,13348,0.00,2.60,0.00,0.000,4,0.000,0.057,2644,3708,2013
$GC,13377,1.26,195.8,376.5,12.7,640,13383,0.00,2.45,0.00,0.000,6,0.000,0.028,2644,2293,2013
$GC,13692,1.26,195.8,335.4,13.2,656,13697,0.00,2.58,0.00,0.000,4,0.000,0.057,2644,3699,2013
$GC,13733,1.26,195.8,329.6,14.8,658,13737,0.00,2.42,0.00,0.000,6,0.000,0.028,2644,2295,2013
$GC,14065,1.26,195.8,284.3,13.5,674,14070,0.00,2.50,0.00,0.000,4,0.000,0.044,2644,891,2013
$GC,14093,1.26,195.8,280.4,12.8,675,14097,0.00,2.45,0.00,0.000,6,0.000,0.033,2644,2301,2013
$GC,14409,1.26,195.8,239.0,13.1,690,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2301,2013
$GC,14718,1.26,195.8,198.8,12.6,705,14722,0.00,2.58,0.00,0.000,4,0.000,0.058,2644,3707,2013
$GC,14767,1.26,195.8,192.0,13.1,707,14772,0.00,2.42,0.00,0.000,6,0.000,0.028,2644,2298,2014
$GC,15089,1.26,195.8,151.8,12.4,723,15093,0.00,2.58,0.00,0.000,4,0.000,0.056,2644,3704,2013
$GC,15121,1.26,195.8,147.4,13.5,724,15128,0.00,2.42,0.00,0.000,6,0.000,0.028,2643,2296,2013
$GC,15438,1.31,195.8,109.1,11.9,740,15442,0.00,2.58,0.00,0.000,4,0.000,0.056,2644,3703,2014
$GC,15493,1.31,195.8,102.1,12.8,742,15499,0.00,2.42,0.00,0.000,6,0.000,0.028,2644,2296,2014
$GC,15809,1.35,195.8,67.2,10.7,758,15814,0.00,2.58,0.00,0.000,4,0.000,0.055,2644,3702,2014
$GC,15872,1.35,195.8,60.2,10.6,761,15876,0.00,2.42,0.00,0.000,6,0.000,0.028,2644,2295,2014
$GC,16199,1.35,195.8,30.0,8.6,777,16203,0.00,2.47,0.00,0.000,4,0.000,0.043,2644,898,2014
$GC,16433,1.35,195.8,5.5,11.1,787,16440,0.00,2.42,0.00,0.000,6,0.000,0.034,2644,2300,2013
$STATE,16458,end climb,SURFACE_DEPTH_REACHED
$STATE,16458,begin surface coast
$FINISH,0.7,1.026545
$STATE,16480,end surface coast,CONTROL_FINISHED_OK
$STATE,16480,begin surface
$SM_CCo,16504,34.30,0.580,0,0,1796,250.21
$SM_GC,1.65,0.00,0.00,34.30,0.000,0.000,0.580,74,2606,1796,-10.52,0.17,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1731
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.8,29.7
$24V_AH,23.6,24.041
$10V_AH,10.1,11.909
$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,29.550,175.200,251.800,34.300,0.000,17.966,26.356,132.406,7.500,0.000,0.000,13.246,1541.278,12433.468,447.606,1948.795,460.270,0.000,1426.204,0.000,1895.916,0.000,52.425,0.000
$DEVICE_MAMPS,181.779,74.399,1130.558,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.562,540.944,448.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41147,790
$CAP_FILE_SIZE,136596,0
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,300609,025407,6350.615,-1313.741,35,1.4,35,-12.5