version: 66.04
glider: 16
mission: 13
dive: 133
start: 6 30 109 7 13 19
data:
$ID,16
$MISSION,13
$DIVE,133
$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,-2109960.2
$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,36
$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
$GPS1,070507,6350.862,-1311.827,39,1.0,39,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.4
$GPS2,071302,6350.862,-1312.040,15,1.3,15,-12.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,L1
$TGT_LATLONG,6400.000,-1330.000
$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,331.8,22338,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,73,0.00,0.00,-53.85,0.000,6,0.000,0.000,75,2605,3417
$GC,76,-1.03,-146.6,6.5,-9.9,3,98,11.82,2.55,0.00,0.000,4,0.180,0.041,2130,1197,3418
$GC,302,-1.03,-146.6,38.8,-9.1,13,306,0.00,2.47,0.00,0.000,6,0.000,0.037,2129,2599,3419
$GC,629,-1.03,-146.6,67.6,-8.4,29,633,0.00,2.35,0.00,0.000,4,0.000,0.065,2130,3867,3420
$GC,714,-1.03,-146.6,74.8,-8.3,33,718,0.00,2.17,0.00,0.000,6,0.000,0.027,2130,2582,3420
$GC,1041,-1.03,-146.6,105.5,-10.3,49,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3420
$GC,1351,-1.03,-146.6,137.0,-10.3,64,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3420
$GC,1659,-1.03,-146.6,171.0,-11.1,79,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3420
$GC,1968,-1.03,-146.6,206.3,-11.2,94,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3421
$GC,2277,-1.03,-146.6,239.6,-10.8,109,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3420
$GC,2587,-1.03,-146.6,271.4,-9.7,124,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3420
$GC,2896,-1.03,-146.6,299.8,-8.8,139,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2581,3421
$GC,3206,-1.03,-146.6,325.5,-8.0,154,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3421
$GC,3515,-1.03,-146.6,347.4,-6.8,169,3519,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1204,3420
$GC,3560,-1.03,-146.6,350.3,-6.1,171,3565,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2601,3420
$GC,3882,-1.03,-146.6,371.5,-6.9,187,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3420
$GC,4191,-1.03,-146.6,396.2,-8.5,202,4195,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1212,3420
$GC,4236,-1.07,-146.6,400.3,-8.8,204,4241,0.00,2.45,0.00,0.000,6,0.000,0.036,2130,2611,3420
$GC,4557,-1.07,-146.6,430.9,-10.0,220,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2611,3421
$GC,4867,-1.07,-146.6,464.4,-11.2,235,4871,0.00,2.47,0.00,0.000,4,0.000,0.039,2130,1204,3419
$GC,4917,-1.11,-146.6,470.6,-11.7,237,4921,0.00,2.42,0.00,0.000,6,0.000,0.036,2130,2600,3419
$GC,5238,-1.11,-146.6,510.5,-12.7,253,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,5548,-1.11,-146.6,548.5,-11.8,268,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,5857,-1.11,-146.6,578.7,-8.7,283,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,6166,-1.11,-146.6,604.8,-8.3,298,6170,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1209,3419
$GC,6211,-1.16,-146.6,607.9,-6.8,300,6216,0.12,2.45,0.00,0.000,6,0.049,0.037,2091,2608,3419
$GC,6533,-1.06,-146.6,633.8,-6.6,316,6535,0.17,0.00,0.00,0.000,6,0.096,0.000,2125,2608,3419
$GC,6841,-1.06,-146.6,653.2,-8.5,331,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3418
$GC,7151,-1.06,-146.6,681.3,-9.8,346,7155,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1212,3419
$GC,7281,-1.11,-146.6,694.9,-10.7,352,7285,0.00,2.42,0.00,0.000,6,0.000,0.038,2125,2601,3418
$GC,7613,-1.11,-146.6,724.9,-8.1,368,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3418
$GC,7922,-1.11,-146.6,752.3,-9.9,383,7926,0.00,2.45,0.00,0.000,4,0.000,0.043,2125,1214,3418
$GC,7962,-1.16,-146.6,757.0,-11.8,385,7966,0.00,2.45,0.00,0.000,6,0.000,0.040,2125,2603,3418
$GC,8289,-1.16,-146.6,795.2,-10.9,401,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3417
$GC,8598,-1.16,-146.6,825.4,-8.8,416,8602,0.00,2.47,0.00,0.000,4,0.000,0.046,2125,1213,3416
$GC,8631,-1.21,-146.6,827.8,-7.2,417,8638,0.15,2.47,0.00,0.000,6,0.053,0.043,2084,2607,3416
$STATE,8717,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8717,begin apogee
$GC,8725,-0.31,0.0,837.3,10.9,422,8861,1.02,0.00,132.12,1.132,6,0.105,0.000,2289,2309,2817
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8861,begin climb
$GC,8864,1.03,146.6,844.2,0.0,429,9010,1.35,2.67,133.40,1.124,4,0.069,0.050,2579,902,2217
$GC,9104,0.94,154.5,834.7,7.2,440,9119,0.00,2.50,7.47,0.889,6,0.000,0.038,2579,2302,2186
$GC,9436,0.85,154.5,799.3,11.7,456,9441,0.17,2.65,0.00,0.000,4,0.097,0.068,2546,3702,2184
$GC,9499,0.77,154.5,792.9,10.1,459,9503,0.00,2.47,0.00,0.000,6,0.000,0.032,2546,2306,2184
$GC,9825,0.82,201.1,771.2,5.9,475,9871,0.00,0.00,44.03,1.068,6,0.000,0.000,2546,2306,1997
$GC,10174,0.86,234.6,751.4,6.4,492,10213,0.00,0.00,32.42,1.045,6,0.000,0.000,2546,2306,1860
$GC,10523,0.94,311.8,729.0,4.9,509,10606,0.00,2.70,73.12,1.058,4,0.000,0.052,2545,892,1543
$GC,10648,1.14,378.7,722.5,5.2,514,10717,0.28,2.53,61.97,1.042,6,0.045,0.037,2615,2307,1273
$GC,11026,1.14,378.7,691.9,7.6,533,11030,0.00,2.60,0.00,0.000,4,0.000,0.052,2615,895,1262
$GC,11110,1.26,491.4,687.7,3.7,537,11217,0.00,2.50,101.00,1.035,6,0.000,0.036,2615,2306,813
$GC,11545,1.31,502.3,664.7,7.1,558,11560,0.15,2.62,9.57,0.870,4,0.051,0.050,2658,894,769
$GC,11664,1.26,502.3,651.0,12.6,562,11669,0.12,2.50,0.00,0.000,6,0.096,0.035,2634,2308,767
$GC,11980,1.26,502.3,622.2,8.5,577,11984,0.00,2.58,0.00,0.000,4,0.000,0.051,2634,896,767
$GC,12074,1.26,502.3,612.9,10.7,581,12078,0.00,2.47,0.00,0.000,6,0.000,0.035,2634,2301,766
$GC,12390,1.26,502.3,580.8,11.1,596,12394,0.00,2.55,0.00,0.000,4,0.000,0.049,2634,896,766
$GC,12507,1.26,502.3,568.0,11.2,601,12511,0.00,2.47,0.00,0.000,6,0.000,0.034,2634,2306,765
$GC,12823,1.26,502.3,522.4,15.5,616,12828,0.00,2.55,0.00,0.000,4,0.000,0.049,2634,896,765
$GC,12924,1.26,502.3,506.5,15.7,620,12930,0.00,2.45,0.00,0.000,6,0.000,0.034,2634,2301,765
$GC,13240,1.26,502.3,458.1,15.3,636,13244,0.00,2.53,0.00,0.000,4,0.000,0.047,2634,895,765
$GC,13347,1.26,502.3,441.9,14.9,641,13352,0.00,2.45,0.00,0.000,6,0.000,0.033,2634,2301,765
$GC,13674,1.26,502.3,391.9,15.1,657,13678,0.00,2.53,0.00,0.000,4,0.000,0.047,2634,895,765
$GC,13781,1.26,502.3,375.5,15.0,662,13785,0.00,2.45,0.00,0.000,6,0.000,0.033,2635,2302,765
$GC,14113,1.26,502.3,328.6,14.3,678,14117,0.00,2.53,0.00,0.000,4,0.000,0.047,2634,895,764
$GC,14219,1.26,502.3,313.5,13.8,683,14224,0.00,2.45,0.00,0.000,6,0.000,0.033,2634,2301,765
$GC,14546,1.26,502.3,272.5,11.5,699,14551,0.00,2.53,0.00,0.000,4,0.000,0.046,2634,894,765
$GC,14647,1.30,502.3,261.1,11.0,703,14653,0.00,2.45,0.00,0.000,6,0.000,0.033,2633,2301,764
$GC,14963,1.30,502.3,226.1,11.7,719,14967,0.00,2.53,0.00,0.000,4,0.000,0.045,2634,891,765
$GC,15052,1.35,502.3,214.9,12.7,723,15056,0.00,2.45,0.00,0.000,6,0.000,0.033,2634,2300,765
$GC,15373,1.35,502.3,172.6,14.2,739,15378,0.00,2.50,0.00,0.000,4,0.000,0.046,2634,894,765
$GC,15486,1.40,502.3,156.4,14.3,744,15491,0.12,2.45,0.00,0.000,6,0.054,0.033,2666,2302,764
$GC,15809,1.32,502.3,88.6,22.2,760,15813,0.00,2.53,0.00,0.000,4,0.000,0.046,2666,891,765
$GC,15948,1.32,502.3,58.3,20.1,766,15953,0.00,2.45,0.00,0.000,6,0.000,0.033,2666,2302,765
$STATE,16262,end climb,SURFACE_DEPTH_REACHED
$STATE,16262,begin surface coast
$FINISH,0.8,1.002804
$STATE,16283,end surface coast,CONTROL_FINISHED_OK
$STATE,16284,begin surface
$SM_CCo,16367,0.00,0.000,0,0,764,503.36
$SM_GC,1.52,12.45,0.00,0.00,0.091,0.000,0.000,64,2599,764,-10.45,-0.03,503.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1741
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.8,43.8
$24V_AH,23.6,24.311
$10V_AH,10.1,12.056
$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,27.950,120.475,595.125,0.000,0.000,36.660,55.380,202.596,7.000,0.000,0.000,15.549,1444.160,12350.234,632.313,1865.708,548.116,0.000,1596.233,0.000,1812.200,0.000,48.230,0.000
$DEVICE_MAMPS,180.245,68.263,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.431,531.749,415.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38118,782
$CAP_FILE_SIZE,122543,0
$CFSIZE,260165632,250789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300609,114725,6352.747,-1318.425,43,0.9,43,-12.6