version: 66.04
glider: 16
mission: 13
dive: 138
start: 7 1 109 4 56 2
data:
$ID,16
$MISSION,13
$DIVE,138
$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,-2110033.2
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,045036,6358.352,-1330.042,35,0.8,41,-12.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.1
$GPS2,045544,6358.433,-1329.954,13,0.9,13,-12.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$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,146.5,22572,-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,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-58.90,0.000,6,0.000,0.000,72,2605,3416
$GC,82,-1.03,-146.6,6.5,-11.6,3,104,11.80,2.55,0.00,0.000,4,0.179,0.037,2130,1185,3417
$GC,115,0.02,-146.6,20.9,-36.6,4,127,1.12,2.50,0.00,0.000,6,0.088,0.036,2362,2597,3418
$GC,438,-0.64,-146.6,44.6,-9.1,20,443,0.62,2.47,0.00,0.000,4,0.060,0.035,2218,1187,3419
$GC,696,-1.21,-146.6,61.8,-6.3,31,704,0.57,2.47,0.00,0.000,6,0.049,0.035,2088,2603,3420
$GC,1013,-1.13,-146.6,92.2,-10.3,47,1018,0.12,2.50,0.00,0.000,4,0.099,0.038,2112,1185,3420
$GC,1124,-1.13,-146.6,102.8,-9.4,52,1129,0.00,2.50,0.00,0.000,6,0.000,0.036,2112,2607,3420
$GC,1446,-1.08,-146.6,132.9,-9.3,68,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2607,3420
$GC,1755,-1.02,-146.6,162.9,-10.0,83,1756,0.12,0.00,0.00,0.000,6,0.101,0.000,2135,2608,3420
$GC,2064,-1.02,-146.6,191.7,-9.7,98,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2608,3421
$GC,2373,-1.02,-146.6,224.7,-11.7,113,2378,0.00,2.47,0.00,0.000,4,0.000,0.038,2136,1195,3421
$GC,2406,-1.07,-146.6,228.5,-10.7,114,2410,0.00,2.47,0.00,0.000,6,0.000,0.036,2135,2606,3421
$GC,2722,-1.07,-146.6,260.4,-9.8,129,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2607,3421
$GC,3031,-1.07,-146.6,291.0,-9.7,144,3035,0.00,2.47,0.00,0.000,4,0.000,0.038,2136,1194,3421
$GC,3071,-1.12,-146.6,294.7,-8.6,146,3076,0.00,2.47,0.00,0.000,6,0.000,0.036,2136,2607,3421
$GC,3398,-1.12,-146.6,322.8,-9.5,162,3402,0.00,2.33,0.00,0.000,4,0.000,0.067,2135,3860,3421
$GC,3505,-1.12,-146.6,333.6,-9.7,167,3509,0.00,2.15,0.00,0.000,6,0.000,0.027,2135,2582,3421
$GC,3837,-1.12,-146.6,364.4,-10.9,183,3841,0.00,2.38,0.00,0.000,4,0.000,0.067,2136,3858,3421
$GC,4073,-1.18,-146.6,388.4,-8.5,193,4079,0.15,2.12,0.00,0.000,6,0.042,0.028,2091,2599,3421
$GC,4389,-1.09,-146.6,418.4,-9.2,209,4393,0.15,2.33,0.00,0.000,4,0.104,0.067,2119,3858,3421
$GC,4466,-1.09,-146.6,427.0,-11.3,212,4470,0.00,2.12,0.00,0.000,6,0.000,0.028,2119,2600,3420
$GC,4788,-1.09,-146.6,461.6,-10.7,228,4792,0.00,2.45,0.00,0.000,4,0.000,0.044,2118,1214,3420
$GC,4832,-1.09,-146.6,466.5,-10.4,230,4836,0.00,2.45,0.00,0.000,6,0.000,0.039,2119,2598,3420
$GC,5153,-1.09,-146.6,499.2,-10.1,246,5157,0.00,2.47,0.00,0.000,4,0.000,0.042,2119,1205,3419
$GC,5181,-1.09,-146.6,501.6,-8.8,247,5186,0.00,2.47,0.00,0.000,6,0.000,0.040,2119,2601,3419
$GC,5497,-1.09,-146.6,527.8,-9.2,262,5501,0.00,2.35,0.00,0.000,4,0.000,0.075,2119,3860,3417
$GC,5541,-1.09,-146.6,531.9,-8.5,264,5545,0.00,2.15,0.00,0.000,6,0.000,0.031,2119,2607,3417
$GC,5868,-1.09,-146.6,558.2,-8.3,280,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2605,3416
$GC,6177,-1.09,-146.6,587.5,-8.4,295,6181,0.00,2.50,0.00,0.000,4,0.000,0.048,2119,1208,3415
$GC,6226,-1.14,-146.6,592.9,-12.2,297,6231,0.00,2.47,0.00,0.000,6,0.000,0.041,2119,2602,3415
$GC,6545,-1.14,-146.6,625.9,-10.7,312,6549,0.00,2.38,0.00,0.000,4,0.000,0.077,2119,3858,3413
$GC,6566,-1.14,-146.6,628.6,-10.6,313,6570,0.00,2.17,0.00,0.000,6,0.000,0.031,2119,2592,3414
$GC,6893,-1.14,-146.6,660.5,-9.6,329,6897,0.00,2.47,0.00,0.000,4,0.000,0.048,2119,1206,3412
$GC,6960,-1.18,-146.6,670.2,-16.6,332,6964,0.00,2.47,0.00,0.000,6,0.000,0.041,2119,2601,3412
$STATE,6989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6990,begin apogee
$GC,6997,-0.31,0.0,673.4,11.0,334,7133,0.85,0.00,128.55,1.052,6,0.104,0.000,2289,2303,2816
$STATE,7133,end apogee,CONTROL_FINISHED_OK
$STATE,7134,begin climb
$GC,7136,1.03,146.6,673.0,0.0,341,7275,1.38,2.62,130.35,1.030,4,0.074,0.051,2581,902,2218
$GC,7452,0.93,146.6,652.9,9.8,354,7458,0.00,2.50,0.00,0.000,6,0.000,0.038,2581,2304,2212
$GC,7768,0.82,146.6,630.1,10.6,370,7773,0.20,2.65,0.00,0.000,4,0.104,0.070,2540,3700,2210
$GC,7835,0.75,146.6,620.7,15.3,373,7839,0.00,2.45,0.00,0.000,6,0.000,0.032,2540,2306,2209
$GC,8156,0.83,272.8,605.9,3.2,389,8272,0.00,0.00,112.75,1.002,6,0.000,0.000,2539,2305,1705
$GC,8571,0.93,272.8,578.6,8.9,409,8576,0.10,2.58,0.00,0.000,4,0.060,0.054,2568,897,1693
$GC,8615,0.93,272.8,573.9,11.0,411,8620,0.00,2.50,0.00,0.000,6,0.000,0.038,2568,2299,1692
$GC,8937,0.93,272.8,542.0,10.6,427,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1691
$GC,9246,0.97,272.8,508.4,9.7,442,9250,0.00,2.53,0.00,0.000,4,0.000,0.051,2568,901,1691
$GC,9268,0.97,272.8,506.0,10.5,443,9273,0.00,2.47,0.00,0.000,6,0.000,0.038,2568,2300,1689
$GC,9596,0.99,289.6,480.5,6.9,459,9617,0.00,2.60,14.07,0.864,4,0.000,0.050,2570,897,1635
$GC,9641,1.03,289.6,476.8,8.1,461,9646,0.00,2.50,0.00,0.000,6,0.000,0.036,2568,2301,1633
$GC,9968,1.04,289.9,450.7,7.5,477,9973,0.00,2.62,0.00,0.000,4,0.000,0.064,2569,3705,1632
$GC,10041,1.04,289.9,444.5,8.7,480,10046,0.00,2.47,0.00,0.000,6,0.000,0.032,2568,2298,1631
$GC,10357,1.12,290.9,424.5,7.5,495,10362,0.15,2.60,0.00,0.000,4,0.054,0.062,2610,3701,1631
$GC,10408,0.98,290.9,419.1,10.9,497,10413,0.17,2.45,0.00,0.000,6,0.097,0.031,2577,2299,1631
$GC,10724,0.98,290.9,393.1,8.7,512,10728,0.00,2.60,0.00,0.000,4,0.000,0.061,2578,3701,1631
$GC,10750,0.98,290.9,391.0,8.2,513,10755,0.00,2.45,0.00,0.000,6,0.000,0.030,2577,2297,1631
$GC,11066,0.98,290.9,366.4,8.0,528,11071,0.00,2.53,0.00,0.000,4,0.000,0.049,2577,892,1631
$GC,11084,0.98,290.9,365.0,8.7,529,11088,0.00,2.47,0.00,0.000,6,0.000,0.034,2577,2308,1632
$GC,11410,0.98,290.9,333.2,10.5,545,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2308,1631
$GC,11719,0.98,290.9,299.7,10.1,560,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2308,1631
$GC,12028,0.98,290.9,270.9,8.8,575,12032,0.00,2.50,0.00,0.000,4,0.000,0.044,2577,897,1631
$GC,12084,1.03,290.9,265.5,10.3,577,12089,0.00,2.45,0.00,0.000,6,0.000,0.034,2577,2301,1630
$GC,12400,1.03,290.9,236.0,9.2,592,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2301,1631
$GC,12709,1.08,290.9,205.2,9.9,607,12714,0.00,2.50,0.00,0.000,4,0.000,0.044,2577,897,1630
$GC,12765,1.13,290.9,199.5,10.2,609,12772,0.15,2.45,0.00,0.000,6,0.048,0.033,2618,2304,1631
$GC,13082,1.05,290.9,163.5,11.1,625,13084,0.15,0.00,0.00,0.000,6,0.090,0.000,2588,2304,1631
$GC,13391,1.05,290.9,132.6,10.6,640,13395,0.00,2.53,0.00,0.000,4,0.000,0.044,2588,888,1631
$GC,13435,1.05,290.9,127.5,11.3,642,13439,0.00,2.45,0.00,0.000,6,0.000,0.032,2588,2301,1631
$GC,13757,1.05,290.9,96.1,9.1,658,13761,0.00,2.50,0.00,0.000,4,0.000,0.044,2588,895,1631
$GC,13790,1.05,290.9,92.9,9.1,659,13796,0.00,2.45,0.00,0.000,6,0.000,0.032,2588,2309,1631
$GC,14107,1.05,290.9,66.0,8.7,675,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2310,1632
$GC,14415,1.05,290.9,36.2,10.3,690,14420,0.00,2.53,0.00,0.000,4,0.000,0.044,2588,890,1632
$GC,14465,1.05,290.9,30.7,10.0,692,14469,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2306,1632
$STATE,14764,end climb,SURFACE_DEPTH_REACHED
$STATE,14764,begin surface coast
$FINISH,0.7,1.026620
$STATE,14785,end surface coast,CONTROL_FINISHED_OK
$STATE,14785,begin surface
$SM_CCo,14869,0.00,0.000,0,0,1630,291.17
$SM_GC,1.53,11.90,0.00,0.00,0.084,0.000,0.000,76,2604,1630,-10.45,0.11,291.17
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1737
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.5,30.9
$24V_AH,23.6,25.034
$10V_AH,10.1,12.413
$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,29.725,138.550,385.725,0.000,0.000,18.003,26.335,148.851,5.750,0.000,0.000,13.691,1346.019,11223.000,485.733,1681.617,440.270,0.000,1347.626,0.000,1635.509,0.000,41.071,0.000
$DEVICE_MAMPS,179.478,76.700,1052.324,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.291,483.113,454.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37933,708
$CAP_FILE_SIZE,115675,0
$CFSIZE,260165632,250515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010709,090506,6356.812,-1328.607,39,0.9,39,-12.7