version: 66.04
glider: 16
mission: 13
dive: 135
start: 6 30 109 16 22 43
data:
$ID,16
$MISSION,13
$DIVE,135
$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,-2109988.8
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,161736,6355.344,-1323.581,38,1.0,43,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.0
$GPS2,162226,6355.375,-1323.604,12,1.9,12,-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,341.4,10017,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,106,0.00,0.00,-86.03,0.000,2,0.000,0.000,76,2602,3199
$GC,109,-1.03,-146.6,4.5,-3.6,5,132,11.77,2.53,-3.90,0.000,4,0.179,0.053,2131,1182,3415
$GC,385,-1.03,-146.6,46.5,-15.4,17,389,0.00,2.50,0.00,0.000,6,0.000,0.036,2131,2602,3417
$GC,706,-1.03,-146.6,102.2,-17.1,33,710,0.00,2.50,0.00,0.000,4,0.000,0.039,2131,1188,3418
$GC,755,-1.03,-146.6,108.7,-12.2,35,760,0.00,2.50,0.00,0.000,6,0.000,0.036,2131,2606,3418
$GC,1071,-1.03,-146.6,133.2,-7.6,50,1076,0.00,2.50,0.00,0.000,4,0.000,0.037,2131,1185,3418
$GC,1144,-1.03,-146.6,139.1,-7.6,53,1148,0.00,2.50,0.00,0.000,6,0.000,0.036,2131,2605,3418
$GC,1460,-1.03,-146.6,162.4,-6.9,68,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,1769,-1.03,-146.6,179.7,-5.8,83,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,2079,-1.03,-146.6,201.1,-7.2,98,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,2387,-1.03,-146.6,224.9,-8.3,113,2395,0.00,2.50,0.00,0.000,4,0.000,0.038,2131,1187,3418
$GC,2423,-1.03,-146.6,227.8,-7.7,114,2427,0.00,2.50,0.00,0.000,6,0.000,0.036,2131,2607,3418
$GC,2738,-1.03,-146.6,252.3,-8.1,129,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3418
$GC,3048,-1.03,-146.6,281.3,-9.0,144,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3418
$GC,3357,-1.03,-146.6,306.7,-8.3,159,3361,0.00,2.50,0.00,0.000,4,0.000,0.038,2131,1187,3418
$GC,3401,-1.07,-146.6,310.5,-8.7,161,3405,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2603,3418
$GC,3722,-1.07,-146.6,342.3,-9.6,177,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4031,-1.07,-146.6,372.8,-9.2,192,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3417
$GC,4341,-1.07,-146.6,401.7,-9.6,207,4345,0.00,2.50,0.00,0.000,4,0.000,0.039,2131,1187,3418
$GC,4385,-1.11,-146.6,406.2,-9.9,209,4390,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2600,3417
$GC,4707,-1.11,-146.6,436.2,-10.8,225,4710,0.00,2.47,0.00,0.000,4,0.000,0.038,2131,1186,3417
$GC,4780,-1.17,-146.6,443.6,-9.5,228,4785,0.12,2.47,0.00,0.000,6,0.048,0.036,2093,2599,3417
$GC,5101,-1.09,-146.6,484.2,-12.1,244,5106,0.15,2.50,0.00,0.000,4,0.097,0.040,2121,1185,3416
$GC,5168,-1.03,-146.6,492.8,-13.8,247,5173,0.00,2.50,0.00,0.000,6,0.000,0.037,2121,2608,3417
$GC,5490,-1.03,-146.6,522.9,-9.1,263,5494,0.00,2.50,0.00,0.000,4,0.000,0.040,2121,1188,3416
$GC,5596,-1.03,-146.6,532.2,-8.6,268,5601,0.00,2.47,0.00,0.000,6,0.000,0.037,2121,2599,3416
$GC,5923,-1.03,-146.6,562.5,-10.2,284,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2599,3416
$GC,6232,-1.03,-146.6,592.9,-9.4,299,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2599,3415
$GC,6542,-1.03,-146.6,619.4,-7.7,314,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2599,3415
$GC,6852,-1.07,-146.6,645.1,-7.6,329,6856,0.00,2.50,0.00,0.000,4,0.000,0.043,2122,1188,3415
$GC,6947,-1.07,-146.6,650.6,-5.5,333,6952,0.00,2.50,0.00,0.000,6,0.000,0.038,2121,2603,3415
$GC,7263,-1.07,-146.6,680.1,-16.5,348,7267,0.00,2.53,0.00,0.000,4,0.000,0.043,2121,1182,3414
$GC,7318,-1.12,-146.6,691.3,-18.3,350,7325,0.00,2.50,0.00,0.000,6,0.000,0.041,2121,2598,3414
$GC,7634,-1.12,-146.6,734.3,-10.8,366,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2599,3413
$STATE,7755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7755,begin apogee
$GC,7763,-0.31,0.0,753.6,15.9,372,7898,0.82,0.00,129.98,1.085,6,0.103,0.000,2288,2276,2816
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7902,1.03,146.6,758.4,0.0,379,8038,1.40,0.00,131.20,1.076,6,0.082,0.000,2579,2276,2219
$GC,8356,0.92,210.9,737.7,5.3,401,8420,0.00,2.85,57.33,1.050,4,0.000,0.071,2579,3707,1956
$GC,8549,0.92,350.4,733.8,2.7,409,8683,0.00,2.47,126.97,1.061,6,0.000,0.035,2578,2309,1387
$GC,9011,0.92,350.4,698.7,15.2,432,9015,0.00,2.62,0.00,0.000,4,0.000,0.059,2578,897,1377
$GC,9083,0.92,350.4,687.8,13.6,435,9087,0.00,2.53,0.00,0.000,6,0.000,0.041,2578,2303,1374
$GC,9399,0.92,350.4,661.9,9.4,450,9403,0.00,2.58,0.00,0.000,4,0.000,0.055,2579,898,1373
$GC,9471,0.98,350.4,653.6,12.6,453,9475,0.00,2.50,0.00,0.000,6,0.000,0.038,2578,2303,1372
$GC,9787,1.02,350.4,620.8,9.8,468,9791,0.00,2.62,0.00,0.000,4,0.000,0.065,2578,3708,1372
$GC,9850,1.06,350.4,614.1,11.4,471,9854,0.00,2.47,0.00,0.000,6,0.000,0.034,2578,2301,1372
$GC,10176,1.06,350.4,577.5,11.5,487,10181,0.00,2.55,0.00,0.000,4,0.000,0.053,2578,896,1371
$GC,10284,1.15,350.4,563.8,13.3,492,10289,0.15,2.50,0.00,0.000,6,0.063,0.038,2612,2311,1369
$GC,10611,1.15,350.4,520.9,12.1,508,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2311,1369
$GC,10921,1.10,350.4,489.9,9.7,523,10925,0.00,2.58,0.00,0.000,4,0.000,0.049,2612,892,1369
$GC,11006,1.05,350.4,480.8,8.3,527,11011,0.12,2.47,0.00,0.000,6,0.100,0.036,2589,2300,1369
$GC,11333,1.11,350.4,442.3,11.3,543,11337,0.00,2.55,0.00,0.000,4,0.000,0.048,2589,889,1369
$GC,11417,1.11,350.4,432.5,10.5,547,11422,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2300,1369
$GC,11744,1.11,350.4,397.4,11.0,563,11748,0.00,2.53,0.00,0.000,4,0.000,0.046,2589,895,1368
$GC,11794,1.16,350.4,391.3,12.1,565,11799,0.10,2.47,0.00,0.000,6,0.058,0.035,2616,2308,1369
$GC,12110,1.12,350.4,350.9,12.7,580,12114,0.00,2.55,0.00,0.000,4,0.000,0.045,2617,888,1369
$GC,12199,1.12,350.4,339.5,13.3,584,12203,0.00,2.47,0.00,0.000,6,0.000,0.034,2617,2302,1369
$GC,12520,1.12,350.4,300.6,12.1,600,12524,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,893,1369
$GC,12569,1.12,350.4,294.2,12.7,602,12574,0.00,2.45,0.00,0.000,6,0.000,0.033,2617,2302,1369
$GC,12885,1.12,350.4,255.9,11.8,617,12889,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,892,1369
$GC,12947,1.12,350.4,248.4,12.0,620,12951,0.00,2.45,0.00,0.000,6,0.000,0.033,2616,2305,1369
$GC,13279,1.12,350.4,208.9,11.6,636,13283,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,893,1369
$GC,13323,1.12,350.4,203.5,11.4,638,13327,0.00,2.45,0.00,0.000,6,0.000,0.032,2617,2301,1369
$GC,13644,1.12,350.4,166.2,12.0,654,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2301,1370
$GC,13953,1.12,350.4,129.4,11.9,669,13957,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,890,1370
$GC,14031,1.12,350.4,119.7,12.8,672,14037,0.00,2.45,0.00,0.000,6,0.000,0.033,2617,2301,1370
$GC,14348,1.12,350.4,82.5,12.1,688,14353,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,887,1370
$GC,14389,1.12,350.4,77.4,12.0,690,14393,0.00,2.45,0.00,0.000,6,0.000,0.032,2617,2300,1370
$GC,14716,1.12,350.4,39.1,12.8,706,14720,0.00,2.53,0.00,0.000,4,0.000,0.044,2617,890,1371
$GC,14805,1.12,350.4,26.8,13.0,710,14809,0.00,2.45,0.00,0.000,6,0.000,0.033,2617,2299,1371
$STATE,15020,end climb,SURFACE_DEPTH_REACHED
$STATE,15020,begin surface coast
$FINISH,0.8,1.013185
$STATE,15043,end surface coast,CONTROL_FINISHED_OK
$STATE,15044,begin surface
$SM_CCo,15127,0.00,0.000,0,0,1369,355.19
$SM_GC,1.80,12.02,0.00,0.00,0.083,0.000,0.000,73,2611,1369,-10.46,0.31,355.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1758
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,36.4
$24V_AH,23.6,24.639
$10V_AH,10.1,12.202
$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,26.675,131.625,445.475,0.000,0.000,18.544,24.779,133.805,6.750,0.000,0.000,12.140,1351.762,11372.233,544.167,1726.210,421.159,0.000,1428.935,0.000,1678.362,0.000,48.922,0.000
$DEVICE_MAMPS,178.711,71.331,1084.538,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,528.976,491.637,417.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38067,722
$CAP_FILE_SIZE,114069,0
$CFSIZE,260165632,250683392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300609,203606,6356.909,-1330.599,40,0.9,40,-12.7