version: 66.04
glider: 16
mission: 13
dive: 136
start: 6 30 109 20 41 19
data:
$ID,16
$MISSION,13
$DIVE,136
$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,-2110002
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,203606,6356.909,-1330.599,40,0.9,40,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.0
$GPS2,204102,6356.926,-1330.576,12,1.0,12,-12.7
$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,17.4,5712,-15.9,-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,-1.12,-116.4,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,74,2612,3027
$GC,84,-1.15,-146.6,4.0,-5.9,3,110,11.62,2.58,-7.62,0.000,4,0.179,0.050,2103,1187,3416
$GC,363,-1.15,-146.6,39.1,-10.3,15,367,0.00,2.47,0.00,0.000,6,0.000,0.036,2102,2594,3418
$GC,679,-1.15,-146.6,72.2,-11.6,30,683,0.00,2.47,0.00,0.000,4,0.000,0.038,2103,1188,3418
$GC,768,-1.15,-146.6,82.3,-11.1,34,772,0.00,2.50,0.00,0.000,6,0.000,0.036,2104,2607,3418
$GC,1089,-1.15,-146.6,116.6,-10.8,50,1093,0.00,2.33,0.00,0.000,4,0.000,0.065,2101,3862,3418
$GC,1144,-1.15,-146.6,123.4,-12.2,52,1151,0.00,2.17,0.00,0.000,6,0.000,0.027,2103,2574,3418
$GC,1460,-1.15,-146.6,157.0,-10.4,68,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2573,3418
$GC,1769,-1.15,-146.6,189.1,-10.2,83,1773,0.00,2.38,0.00,0.000,4,0.000,0.064,2103,3863,3418
$GC,1841,-1.15,-146.6,197.3,-11.2,86,1845,0.00,2.15,0.00,0.000,6,0.000,0.027,2103,2592,3418
$GC,2168,-1.15,-146.6,231.1,-10.8,102,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2591,3418
$GC,2477,-1.15,-146.6,264.2,-10.7,117,2481,0.00,2.42,0.00,0.000,4,0.000,0.040,2103,1213,3418
$GC,2510,-1.15,-146.6,267.8,-10.7,118,2516,0.00,2.45,0.00,0.000,6,0.000,0.036,2103,2605,3418
$GC,2826,-1.15,-146.6,303.1,-12.3,134,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2605,3418
$GC,3135,-1.15,-146.6,333.5,-7.8,149,3139,0.00,2.45,0.00,0.000,4,0.000,0.040,2103,1214,3418
$GC,3179,-1.15,-146.6,337.9,-10.3,151,3183,0.00,2.45,0.00,0.000,6,0.000,0.037,2103,2606,3418
$GC,3500,-1.15,-146.6,371.0,-13.9,167,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2606,3418
$GC,3809,-1.15,-146.6,407.8,-14.1,182,3813,0.00,2.47,0.00,0.000,4,0.000,0.043,2103,1214,3418
$GC,3987,-1.15,-146.6,431.9,-13.8,190,3991,0.00,2.45,0.00,0.000,6,0.000,0.038,2103,2602,3418
$GC,4308,-1.15,-146.6,473.6,-10.8,206,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2602,3418
$GC,4617,-1.15,-146.6,510.8,-12.4,221,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2603,3418
$GC,4927,-1.15,-146.6,533.6,-6.6,236,4931,0.00,2.45,0.00,0.000,4,0.000,0.042,2103,1216,3418
$GC,5000,-1.21,-146.6,538.5,-6.5,239,5005,0.00,2.45,0.00,0.000,6,0.000,0.039,2103,2600,3418
$GC,5322,-1.21,-146.6,550.7,-1.8,255,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2600,3417
$GC,5631,-1.21,-146.6,553.0,1.7,270,5635,0.00,2.45,0.00,0.000,4,0.000,0.042,2103,1213,3415
$GC,5709,-1.29,-146.6,550.2,2.5,273,5714,0.12,2.47,0.00,0.000,6,0.060,0.041,2072,2608,3414
$GC,6026,-1.19,-146.6,590.9,-16.4,288,6030,0.15,2.38,0.00,0.000,4,0.108,0.077,2099,3863,3414
$GC,6110,-1.19,-146.6,604.7,-13.7,292,6114,0.00,2.15,0.00,0.000,6,0.000,0.031,2099,2605,3414
$GC,6436,-1.19,-146.6,649.2,-9.5,308,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3413
$GC,6745,-1.19,-146.6,692.6,-15.8,323,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3412
$STATE,6928,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6928,begin apogee
$GC,6935,-0.31,0.0,713.0,12.6,332,7071,0.90,0.00,129.00,1.070,6,0.070,0.000,2294,2306,2816
$STATE,7072,end apogee,CONTROL_FINISHED_OK
$STATE,7072,begin climb
$GC,7075,1.15,146.6,714.6,0.0,339,7216,1.52,2.70,130.60,1.056,4,0.091,0.064,2606,3705,2217
$GC,7469,0.83,146.6,704.7,14.3,356,7474,0.35,2.47,0.00,0.000,6,0.110,0.033,2541,2307,2211
$GC,7790,0.83,146.6,655.7,10.5,372,7795,0.00,2.65,0.00,0.000,4,0.000,0.068,2539,3701,2208
$GC,8047,0.83,146.6,636.9,9.7,383,8054,0.00,2.47,0.00,0.000,6,0.000,0.031,2541,2295,2208
$GC,8363,0.89,146.6,616.4,8.2,399,8368,0.00,2.67,0.00,0.000,4,0.000,0.066,2541,3710,2207
$GC,8621,1.09,329.5,606.0,-0.4,410,8796,0.25,2.50,163.07,1.004,6,0.050,0.036,2601,2296,1472
$GC,9103,1.09,329.5,551.0,15.0,434,9107,0.00,2.65,0.00,0.000,4,0.000,0.064,2601,3702,1461
$GC,9164,1.09,329.5,544.3,10.6,437,9169,0.00,2.50,0.00,0.000,6,0.000,0.033,2602,2293,1460
$GC,9491,1.14,329.5,495.0,17.3,453,9496,0.00,2.55,0.00,0.000,4,0.000,0.054,2601,896,1458
$GC,9565,1.21,329.5,482.1,15.6,456,9569,0.00,2.50,0.00,0.000,6,0.000,0.038,2601,2303,1457
$GC,9881,1.27,329.5,442.5,11.5,471,9886,0.17,2.58,0.00,0.000,4,0.051,0.050,2647,888,1457
$GC,9921,1.17,329.5,436.8,13.8,473,9927,0.17,2.50,0.00,0.000,6,0.099,0.037,2614,2305,1454
$GC,10248,1.17,329.5,398.1,10.4,489,10252,0.00,2.58,0.00,0.000,4,0.000,0.052,2614,895,1456
$GC,10320,1.17,329.5,390.1,8.9,492,10324,0.00,2.50,0.00,0.000,6,0.000,0.037,2614,2309,1454
$GC,10636,1.21,329.5,349.4,13.1,507,10641,0.00,2.60,0.00,0.000,4,0.000,0.064,2613,3699,1454
$GC,10669,1.21,329.5,344.3,14.9,508,10675,0.00,2.47,0.00,0.000,6,0.000,0.032,2614,2295,1454
$GC,10985,1.21,329.5,308.6,9.5,524,10989,0.00,2.53,0.00,0.000,4,0.000,0.049,2614,894,1454
$GC,11057,1.21,329.5,301.4,11.6,527,11061,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2305,1454
$GC,11372,1.21,329.5,259.2,14.0,542,11377,0.00,2.55,0.00,0.000,4,0.000,0.046,2614,889,1454
$GC,11428,1.26,329.5,251.3,13.8,544,11434,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2305,1452
$GC,11744,1.30,329.5,212.9,11.2,560,11746,0.15,0.00,0.00,0.000,6,0.049,0.000,2657,2306,1454
$GC,12053,1.23,329.5,168.5,14.1,575,12058,0.15,2.53,0.00,0.000,4,0.097,0.044,2628,892,1454
$GC,12142,1.23,329.5,157.3,11.8,579,12147,0.00,2.45,0.00,0.000,6,0.000,0.033,2628,2301,1453
$GC,12464,1.23,329.5,118.6,12.3,595,12468,0.00,2.53,0.00,0.000,4,0.000,0.044,2628,891,1454
$GC,12513,1.23,329.5,111.8,13.9,597,12517,0.00,2.47,0.00,0.000,6,0.000,0.033,2626,2311,1454
$GC,12829,1.23,329.5,70.6,12.6,612,12834,0.00,2.55,0.00,0.000,4,0.000,0.044,2628,888,1454
$GC,12892,1.23,329.5,62.8,12.1,615,12896,0.00,2.47,0.00,0.000,6,0.000,0.033,2628,2309,1454
$GC,13219,1.23,329.5,23.7,12.2,631,13223,0.00,2.55,0.00,0.000,4,0.000,0.058,2628,3701,1455
$GC,13291,1.23,329.5,14.2,12.0,634,13296,0.00,2.42,0.00,0.000,6,0.000,0.028,2627,2294,1455
$STATE,13398,end climb,SURFACE_DEPTH_REACHED
$STATE,13399,begin surface coast
$FINISH,0.7,1.013996
$STATE,13420,end surface coast,CONTROL_FINISHED_OK
$STATE,13420,begin surface
$SM_CCo,13504,0.00,0.000,0,0,1453,334.34
$SM_GC,1.59,12.07,0.00,0.00,0.083,0.000,0.000,74,2604,1453,-10.45,0.11,334.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1762
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,69.8
$24V_AH,23.6,24.775
$10V_AH,10.1,12.268
$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,27.650,120.000,422.675,0.000,0.000,18.134,30.244,135.684,5.750,0.000,0.000,12.483,1222.930,9993.278,494.822,1670.292,418.013,0.000,1346.133,0.000,1624.674,0.000,41.223,0.000
$DEVICE_MAMPS,179.478,76.700,1069.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.494,434.984,389.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31795,640
$CAP_FILE_SIZE,105720,0
$CFSIZE,260165632,250642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010709,002736,6357.271,-1333.270,37,1.4,37,-12.7