version: 66.04
glider: 16
mission: 13
dive: 134
start: 6 30 109 11 53 19
data:
$ID,16
$MISSION,13
$DIVE,134
$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,-2109975.8
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,114725,6352.747,-1318.425,43,0.9,43,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.2
$GPS2,115302,6352.753,-1318.524,14,1.6,14,-12.6
$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,337.8,16338,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-94.32,0.000,6,0.000,0.000,64,2599,3418
$GC,121,-1.03,-146.6,7.9,-7.3,5,143,12.00,2.55,0.00,0.000,4,0.185,0.038,2129,1182,3419
$GC,318,-1.03,-146.6,41.2,-10.4,13,325,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2597,3420
$GC,634,-1.03,-146.6,79.6,-13.7,29,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3420
$GC,944,-1.03,-146.6,118.3,-11.1,44,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3420
$GC,1255,-1.03,-146.6,141.7,-6.5,59,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3420
$GC,1562,-1.03,-146.6,171.5,-11.3,74,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3420
$GC,1871,-1.03,-146.6,210.8,-12.5,89,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2598,3420
$GC,2180,-1.03,-146.6,248.0,-12.1,104,2184,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1180,3420
$GC,2235,-1.03,-146.6,254.8,-12.4,106,2241,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2601,3420
$GC,2551,-1.03,-146.6,291.8,-10.8,122,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3420
$GC,2860,-1.03,-146.6,320.0,-8.7,137,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,3169,-1.03,-146.6,345.1,-7.8,152,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3420
$GC,3479,-1.03,-146.6,370.0,-8.2,167,3483,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1183,3420
$GC,3518,-1.03,-146.6,373.3,-8.3,169,3522,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2608,3420
$GC,3844,-1.03,-146.6,399.2,-7.8,185,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3420
$GC,4154,-1.03,-146.6,424.3,-8.6,200,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3420
$GC,4463,-1.03,-146.6,455.0,-10.9,215,4467,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1188,3419
$GC,4530,-1.07,-146.6,463.2,-11.9,218,4534,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2600,3419
$GC,4851,-1.07,-146.6,505.2,-13.1,234,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,5160,-1.07,-146.6,543.5,-11.9,249,5164,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1181,3419
$GC,5226,-1.07,-146.6,551.6,-11.3,252,5231,0.00,2.50,0.00,0.000,6,0.000,0.036,2130,2606,3419
$GC,5548,-1.07,-146.6,589.4,-12.0,268,5552,0.00,2.50,0.00,0.000,4,0.000,0.039,2130,1186,3419
$GC,5603,-1.07,-146.6,596.0,-11.9,270,5609,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2600,3419
$GC,5919,-1.07,-146.6,629.6,-9.4,286,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,6228,-1.07,-146.6,647.8,-4.3,301,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,6538,-1.07,-146.6,658.5,-5.3,316,6542,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1183,3418
$GC,6633,-1.13,-146.6,665.0,-7.9,320,6638,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2602,3418
$GC,6949,-1.17,-146.6,695.3,-10.1,335,6951,0.12,0.00,0.00,0.000,6,0.049,0.000,2091,2601,3418
$GC,7259,-1.10,-146.6,725.0,-9.3,350,7269,0.15,2.53,0.00,0.000,4,0.100,0.043,2119,1185,3417
$GC,7377,-1.10,-146.6,734.5,-8.1,355,7381,0.00,2.50,0.00,0.000,6,0.000,0.041,2119,2599,3417
$GC,7704,-1.10,-146.6,762.4,-9.6,371,7708,0.00,2.53,0.00,0.000,4,0.000,0.044,2119,1185,3416
$GC,7793,-1.19,-146.6,770.9,-9.2,375,7798,0.00,2.53,0.00,0.000,6,0.000,0.043,2119,2602,3415
$STATE,8050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8050,begin apogee
$GC,8057,-0.31,0.0,794.5,10.2,388,8193,0.88,0.00,130.85,1.114,6,0.115,0.000,2290,2278,2817
$STATE,8194,end apogee,CONTROL_FINISHED_OK
$STATE,8194,begin climb
$GC,8197,1.03,146.6,803.0,0.0,395,8341,1.38,2.83,132.35,1.102,4,0.074,0.069,2582,3705,2218
$GC,8597,0.88,150.1,792.9,7.4,413,8602,0.15,2.47,0.00,0.000,6,0.107,0.035,2555,2316,2211
$GC,8919,0.82,153.0,769.1,7.4,429,8927,0.00,0.00,5.25,0.778,6,0.000,0.000,2555,2316,2192
$GC,9252,0.80,222.5,750.6,5.1,445,9323,0.00,2.70,65.10,1.077,4,0.000,0.054,2555,898,1908
$GC,9421,0.80,222.5,737.3,9.5,452,9428,0.00,2.50,0.00,0.000,6,0.000,0.041,2555,2303,1901
$GC,9737,0.80,222.5,707.4,10.1,468,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2303,1898
$GC,10046,0.80,222.5,676.9,9.5,483,10050,0.00,2.60,0.00,0.000,4,0.000,0.051,2554,888,1897
$GC,10085,0.80,222.5,673.2,10.0,485,10090,0.00,2.53,0.00,0.000,6,0.000,0.038,2555,2309,1896
$GC,10413,0.87,288.5,649.6,5.2,501,10475,0.00,0.00,60.85,1.025,6,0.000,0.000,2554,2309,1639
$GC,10781,1.15,476.9,636.8,1.1,519,10962,0.22,2.72,169.43,1.018,4,0.048,0.052,2616,892,871
$GC,11047,1.21,476.9,618.2,8.2,531,11051,0.00,2.53,0.00,0.000,6,0.000,0.036,2616,2309,864
$GC,11363,1.21,476.9,590.1,10.0,546,11367,0.00,2.58,0.00,0.000,4,0.000,0.051,2616,892,860
$GC,11419,1.28,476.9,584.0,10.5,548,11425,0.10,2.50,0.00,0.000,6,0.062,0.035,2645,2306,859
$GC,11735,1.23,476.9,545.6,10.7,564,11739,0.00,2.58,0.00,0.000,4,0.000,0.049,2645,892,858
$GC,11812,1.23,476.9,538.2,8.6,567,11818,0.00,2.47,0.00,0.000,6,0.000,0.035,2645,2302,858
$GC,12128,1.19,476.9,512.7,9.3,583,12133,0.12,2.55,0.00,0.000,4,0.095,0.048,2621,895,857
$GC,12240,1.24,476.9,502.7,9.3,588,12245,0.00,2.47,0.00,0.000,6,0.000,0.034,2621,2310,857
$GC,12562,1.24,476.9,463.5,13.2,604,12566,0.00,2.58,0.00,0.000,4,0.000,0.047,2621,888,857
$GC,12662,1.30,476.9,449.1,14.5,608,12668,0.00,2.47,0.00,0.000,6,0.000,0.033,2621,2303,857
$GC,12978,1.30,476.9,408.3,12.2,624,12982,0.00,2.55,0.00,0.000,4,0.000,0.047,2621,892,857
$GC,13067,1.35,476.9,397.3,12.4,628,13072,0.15,2.47,0.00,0.000,6,0.048,0.033,2658,2308,857
$GC,13388,1.28,476.9,357.6,12.3,644,13393,0.00,2.55,0.00,0.000,4,0.000,0.046,2659,893,857
$GC,13512,1.28,476.9,343.1,10.4,649,13518,0.00,2.47,0.00,0.000,6,0.000,0.034,2658,2309,857
$GC,13828,1.21,476.9,306.9,11.9,665,13833,0.17,2.55,0.00,0.000,4,0.092,0.046,2620,887,857
$GC,13940,1.27,476.9,295.3,10.2,670,13944,0.00,2.47,0.00,0.000,6,0.000,0.033,2620,2305,857
$GC,14261,1.32,476.9,261.6,10.9,686,14266,0.12,2.53,0.00,0.000,4,0.048,0.045,2659,892,856
$GC,14378,1.32,476.9,245.3,15.1,691,14383,0.00,2.45,0.00,0.000,6,0.000,0.033,2659,2301,857
$GC,14695,1.26,476.9,185.9,19.8,706,14700,0.12,2.53,0.00,0.000,4,0.094,0.045,2634,894,857
$GC,14802,1.26,476.9,165.4,19.9,711,14806,0.00,2.45,0.00,0.000,6,0.000,0.033,2634,2305,857
$GC,15137,1.26,476.9,91.2,22.0,727,15141,0.00,2.55,0.00,0.000,4,0.000,0.045,2634,888,857
$GC,15254,1.33,476.9,64.5,20.7,732,15258,0.00,2.47,0.00,0.000,6,0.000,0.033,2634,2308,857
$GC,15570,1.33,476.9,16.0,12.2,747,15574,0.00,2.55,0.00,0.000,4,0.000,0.047,2634,892,857
$STATE,15667,end climb,SURFACE_DEPTH_REACHED
$STATE,15667,begin surface coast
$FINISH,0.8,1.026651
$STATE,15691,end surface coast,CONTROL_FINISHED_OK
$STATE,15691,begin surface
$SM_CCo,15778,0.00,0.000,0,0,856,481.03
$SM_GC,1.64,12.07,0.00,0.00,0.081,0.000,0.000,76,2601,856,-10.45,0.03,481.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1754
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.9,52.2
$24V_AH,23.6,24.494
$10V_AH,10.1,12.131
$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,27.775,122.300,563.825,0.000,0.000,18.033,27.108,173.477,6.750,0.000,0.000,14.798,1400.215,11745.980,660.953,1842.119,463.600,0.000,1612.658,0.000,1793.245,0.000,47.644,0.000
$DEVICE_MAMPS,184.847,69.030,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.025,510.775,400.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38004,752
$CAP_FILE_SIZE,117771,0
$CFSIZE,260165632,250736640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300609,161736,6355.344,-1323.581,38,1.0,43,-12.6