version: 66.04
glider: 16
mission: 13
dive: 132
start: 6 30 109 2 59 34
data:
$ID,16
$MISSION,13
$DIVE,132
$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,-2109944
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,025407,6350.615,-1313.741,35,1.4,35,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.8
$GPS2,025914,6350.623,-1313.778,13,1.4,13,-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,123.0,3294,-27.6,-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,-1.77,-40.3,0.0,0.0,0,60,0.00,0.00,-42.78,0.000,6,0.000,0.000,74,2606,2983
$GC,63,-1.77,-40.9,3.6,-7.4,2,79,10.90,2.30,0.00,0.000,4,0.180,0.057,1968,3861,2984
$GC,198,-1.69,-40.9,31.0,-19.4,7,202,0.12,2.17,0.00,0.000,6,0.145,0.026,1988,2580,2985
$GC,519,-1.69,-40.9,79.8,-14.1,23,523,0.00,2.42,0.00,0.000,4,0.000,0.038,1988,1203,2986
$GC,631,-1.76,-40.9,94.9,-12.4,28,635,0.00,2.47,0.00,0.000,6,0.000,0.036,1988,2609,2986
$GC,952,-1.76,-40.9,137.1,-13.1,44,956,0.00,2.30,0.00,0.000,4,0.000,0.063,1988,3860,2987
$GC,1104,-1.76,-40.9,159.5,-15.2,51,1108,0.00,2.12,0.00,0.000,6,0.000,0.028,1988,2599,2987
$GC,1437,-1.76,-40.9,206.1,-14.3,67,1441,0.00,2.33,0.00,0.000,4,0.000,0.062,1988,3860,2987
$GC,1504,-1.76,-40.9,216.6,-15.4,70,1507,0.00,2.12,0.00,0.000,6,0.000,0.028,1988,2601,2987
$GC,1832,-1.81,-40.9,264.6,-14.9,86,1836,0.00,2.33,0.00,0.000,4,0.000,0.063,1988,3862,2987
$GC,1881,-1.81,-40.9,272.7,-15.4,88,1885,0.00,2.15,0.00,0.000,6,0.000,0.028,1988,2595,2987
$GC,2202,-1.81,-40.9,319.3,-14.3,104,2207,0.00,2.45,0.00,0.000,4,0.000,0.040,1988,1205,2987
$GC,2269,-1.88,-40.9,329.1,-14.4,107,2274,0.17,2.45,0.00,0.000,6,0.049,0.036,1943,2606,2987
$GC,2591,-1.79,-40.9,378.6,-15.1,123,2595,0.15,2.33,0.00,0.000,4,0.125,0.065,1969,3863,2987
$GC,2624,-1.71,-40.9,384.1,-16.4,124,2630,0.00,2.15,0.00,0.000,6,0.000,0.028,1969,2592,2987
$GC,2939,-1.71,-40.9,429.1,-14.0,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2592,2987
$GC,3249,-1.71,-40.9,470.9,-13.2,155,3253,0.00,2.35,0.00,0.000,4,0.000,0.066,1969,3860,2987
$GC,3294,-1.65,-40.9,477.9,-15.6,157,3298,0.15,2.12,0.00,0.000,6,0.130,0.028,1994,2599,2987
$GC,3621,-1.72,-40.9,526.0,-16.2,173,3625,0.00,2.45,0.00,0.000,4,0.000,0.041,1994,1209,2987
$GC,3671,-1.83,-40.9,534.8,-16.6,175,3676,0.15,2.45,0.00,0.000,6,0.051,0.037,1955,2606,2987
$GC,3987,-1.83,-40.9,591.5,-17.5,190,3991,0.00,2.33,0.00,0.000,4,0.000,0.067,1955,3864,2987
$GC,4020,-1.72,-40.9,597.6,-19.0,191,4027,0.15,2.15,0.00,0.000,6,0.125,0.028,1981,2590,2987
$GC,4336,-1.77,-40.9,641.4,-13.0,207,4340,0.00,2.35,0.00,0.000,4,0.000,0.066,1981,3858,2986
$GC,4594,-1.77,-40.9,685.6,-16.5,218,4600,0.00,2.12,0.00,0.000,6,0.000,0.031,1981,2612,2986
$GC,4910,-1.82,-40.9,727.5,-12.1,234,4914,0.00,2.33,0.00,0.000,4,0.000,0.069,1981,3859,2987
$GC,5171,-1.82,-40.9,760.7,-11.8,245,5177,0.00,2.15,0.00,0.000,6,0.000,0.032,1981,2609,2986
$GC,5487,-1.86,-40.9,789.4,-7.5,261,5492,0.12,2.35,0.00,0.000,4,0.059,0.070,1949,3864,2985
$GC,5527,-1.77,-40.9,793.7,-12.1,263,5532,0.12,2.20,0.00,0.000,6,0.130,0.035,1970,2601,2985
$STATE,5686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5686,begin apogee
$GC,5694,-0.31,0.0,813.1,11.9,271,5735,1.65,0.00,37.67,1.082,6,0.124,0.000,2289,2303,2817
$STATE,5736,end apogee,CONTROL_FINISHED_OK
$STATE,5736,begin climb
$GC,5739,1.77,40.9,815.0,0.0,273,5785,2.10,2.62,38.60,1.071,4,0.074,0.053,2745,898,2649
$GC,5926,1.74,117.1,813.7,-2.0,281,6002,0.00,2.50,70.72,1.090,6,0.000,0.038,2745,2303,2339
$GC,6319,1.69,117.1,778.8,11.7,301,6323,0.00,2.62,0.00,0.000,4,0.000,0.066,2745,3701,2332
$GC,6420,1.56,117.1,767.5,11.4,305,6427,0.25,2.47,0.00,0.000,6,0.130,0.032,2700,2295,2331
$GC,6735,1.56,117.1,739.0,8.8,321,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2295,2330
$GC,7045,1.56,117.1,712.2,9.1,336,7049,0.00,2.62,0.00,0.000,4,0.000,0.062,2702,3704,2329
$GC,7134,1.50,117.1,703.6,10.0,340,7138,0.00,2.47,0.00,0.000,6,0.000,0.031,2701,2295,2329
$GC,7456,1.50,117.1,676.3,9.3,356,7460,0.00,2.55,0.00,0.000,4,0.000,0.052,2701,895,2328
$GC,7612,1.50,117.1,660.8,10.2,363,7616,0.00,2.47,0.00,0.000,6,0.000,0.037,2701,2301,2327
$GC,7933,1.50,117.1,627.6,11.2,379,7937,0.00,2.55,0.00,0.000,4,0.000,0.048,2700,890,2327
$GC,7967,1.50,117.1,623.7,11.9,380,7973,0.00,2.47,0.00,0.000,6,0.000,0.035,2700,2304,2326
$GC,8283,1.55,117.1,585.1,12.7,396,8288,0.00,2.58,0.00,0.000,4,0.000,0.060,2701,3700,2326
$GC,8541,1.55,117.1,554.6,10.9,407,8547,0.00,2.42,0.00,0.000,6,0.000,0.029,2700,2295,2326
$GC,8857,1.60,117.1,525.9,9.0,423,8862,0.00,2.58,0.00,0.000,4,0.000,0.057,2701,3698,2327
$GC,8987,1.60,117.1,512.9,9.6,429,8991,0.00,2.42,0.00,0.000,6,0.000,0.028,2701,2298,2325
$GC,9314,1.65,117.1,486.1,7.9,445,9318,0.00,2.50,0.00,0.000,4,0.000,0.048,2701,898,2325
$GC,9445,1.65,117.1,475.6,7.9,451,9449,0.00,2.45,0.00,0.000,6,0.000,0.035,2702,2307,2324
$GC,9772,1.71,119.5,451.9,7.2,467,9774,0.12,0.00,0.00,0.000,6,0.058,0.000,2734,2307,2325
$GC,10080,1.71,119.5,425.3,8.8,482,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2307,2325
$GC,10390,1.71,119.5,396.5,9.1,497,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2307,2326
$GC,10699,1.71,119.5,367.3,9.9,512,10703,0.00,2.53,0.00,0.000,4,0.000,0.057,2734,3699,2326
$GC,10744,1.60,119.5,362.4,11.8,514,10749,0.12,2.40,0.00,0.000,6,0.120,0.028,2713,2294,2326
$GC,11071,1.60,119.5,327.6,10.5,530,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2293,2326
$GC,11381,1.65,119.5,294.5,10.6,545,11386,0.00,2.58,0.00,0.000,4,0.000,0.055,2713,3704,2327
$GC,11470,1.65,119.5,284.5,10.8,549,11475,0.00,2.42,0.00,0.000,6,0.000,0.028,2713,2291,2327
$GC,11792,1.65,119.5,253.8,9.2,565,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2291,2327
$GC,12101,1.65,119.5,226.3,8.8,580,12105,0.00,2.58,0.00,0.000,4,0.000,0.054,2713,3705,2327
$GC,12163,1.65,119.5,220.3,10.1,583,12167,0.00,2.40,0.00,0.000,6,0.000,0.028,2713,2297,2327
$GC,12495,1.69,119.5,189.8,9.3,599,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2296,2327
$GC,12804,1.74,119.5,160.4,9.2,614,12806,0.12,0.00,0.00,0.000,6,0.055,0.000,2749,2296,2328
$GC,13115,1.70,119.5,130.6,9.4,629,13120,0.00,2.55,0.00,0.000,4,0.000,0.054,2749,3710,2328
$GC,13194,1.55,119.5,122.6,9.8,632,13201,0.28,2.42,0.00,0.000,6,0.123,0.028,2698,2295,2328
$GC,13511,1.63,123.1,98.3,7.1,648,13521,0.00,2.47,4.97,0.486,4,0.000,0.044,2698,899,2313
$GC,13566,1.70,126.9,94.2,7.0,650,13577,0.15,2.42,4.82,0.477,6,0.048,0.033,2744,2300,2299
$GC,13905,1.70,126.9,64.2,9.2,667,13909,0.00,2.47,0.00,0.000,4,0.000,0.041,2744,900,2298
$GC,14162,1.70,126.9,38.8,8.7,678,14169,0.00,2.45,0.00,0.000,6,0.000,0.033,2744,2310,2299
$GC,14478,1.70,126.9,8.7,9.3,694,14483,0.00,2.50,0.00,0.000,4,0.000,0.041,2744,895,2298
$STATE,14539,end climb,SURFACE_DEPTH_REACHED
$STATE,14539,begin surface coast
$FINISH,2.3,1.026580
$STATE,14544,end surface coast,CONTROL_FINISHED_OK
$STATE,14544,begin surface
$SM_CCo,14572,83.22,0.585,0,0,1797,250.21
$SM_GC,2.00,0.00,0.00,83.22,0.000,0.000,0.585,75,2605,1797,-10.51,0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1723
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.5,44.8
$24V_AH,23.6,24.114
$10V_AH,10.1,11.979
$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,30.000,135.500,156.800,83.225,0.000,18.094,27.848,139.998,7.000,0.000,0.000,13.598,1389.117,10935.073,364.896,1837.204,438.474,0.000,1256.192,0.000,1787.370,0.000,51.169,0.000
$DEVICE_MAMPS,180.245,69.797,1089.907,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.581,477.957,413.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34822,697
$CAP_FILE_SIZE,120524,0
$CFSIZE,260165632,250851328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300609,070507,6350.862,-1311.827,39,1.0,39,-12.5