version: 66.04
glider: 16
mission: 13
dive: 139
start: 7 1 109 9 10 49
data:
$ID,16
$MISSION,13
$DIVE,139
$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,-2110046.5
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,090506,6356.812,-1328.607,39,0.9,39,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.7
$GPS2,091032,6356.812,-1328.592,12,1.1,12,-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,142.4,19742,-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,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.22,0.000,2,0.000,0.000,76,2605,3379
$GC,84,-1.03,-146.6,5.3,-8.9,3,106,11.77,2.38,-0.60,0.000,4,0.179,0.072,2128,3860,3417
$GC,179,-1.03,-146.6,28.0,-12.6,7,183,0.00,2.17,0.00,0.000,6,0.000,0.026,2128,2576,3418
$GC,500,-1.03,-146.6,67.5,-12.9,23,504,0.00,2.40,0.00,0.000,4,0.000,0.039,2128,1212,3419
$GC,562,-1.03,-146.6,75.9,-13.3,26,567,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2604,3419
$GC,890,-1.03,-146.6,117.4,-11.5,42,894,0.00,2.33,0.00,0.000,4,0.000,0.064,2128,3864,3419
$GC,930,-1.03,-146.6,122.0,-11.4,44,934,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2598,3419
$GC,1262,-1.03,-146.6,156.6,-10.0,60,1266,0.00,2.42,0.00,0.000,4,0.000,0.039,2128,1215,3419
$GC,1301,-1.03,-146.6,160.7,-10.9,62,1306,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2610,3419
$GC,1628,-1.03,-146.6,192.8,-9.1,78,1632,0.00,2.30,0.00,0.000,4,0.000,0.064,2128,3859,3419
$GC,1655,-1.03,-146.6,195.3,-9.2,79,1659,0.00,2.10,0.00,0.000,6,0.000,0.027,2128,2600,3419
$GC,1977,-1.03,-146.6,220.0,-7.3,95,1981,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1206,3419
$GC,2010,-1.03,-146.6,222.4,-7.1,96,2016,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2600,3419
$GC,2326,-1.03,-146.6,241.6,-6.2,112,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,2635,-1.03,-146.6,262.6,-7.1,127,2639,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1205,3419
$GC,2675,-1.03,-146.6,265.7,-7.5,129,2679,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2600,3419
$GC,3001,-1.03,-146.6,291.4,-7.8,145,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3311,-1.03,-146.6,317.8,-8.4,160,3315,0.00,2.42,0.00,0.000,4,0.000,0.040,2129,1213,3419
$GC,3366,-1.03,-146.6,322.3,-8.1,162,3371,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2610,3419
$GC,3682,-1.03,-146.6,346.5,-8.0,177,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3419
$GC,3991,-1.03,-146.6,371.7,-8.7,192,3996,0.00,2.45,0.00,0.000,4,0.000,0.038,2129,1213,3419
$GC,4047,-1.03,-146.6,377.0,-8.9,194,4053,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2609,3419
$GC,4363,-1.03,-146.6,406.1,-9.1,210,4366,0.00,2.45,0.00,0.000,4,0.000,0.039,2128,1206,3419
$GC,4390,-1.03,-146.6,408.9,-9.9,211,4395,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2605,3419
$GC,4711,-1.03,-146.6,441.8,-9.8,227,4715,0.00,2.33,0.00,0.000,4,0.000,0.067,2129,3857,3419
$GC,4751,-1.03,-146.6,445.6,-9.6,229,4755,0.00,2.12,0.00,0.000,6,0.000,0.027,2129,2592,3419
$GC,5084,-1.03,-146.6,483.6,-13.8,245,5088,0.00,2.35,0.00,0.000,4,0.000,0.065,2129,3858,3419
$GC,5191,-1.03,-146.6,497.9,-12.8,250,5194,0.00,2.12,0.00,0.000,6,0.000,0.027,2128,2592,3419
$GC,5524,-1.03,-146.6,542.4,-14.6,266,5528,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3857,3419
$GC,5580,-1.03,-146.6,550.8,-14.7,268,5586,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2595,3419
$GC,5895,-1.03,-146.6,594.0,-14.0,284,5899,0.00,2.45,0.00,0.000,4,0.000,0.044,2129,1208,3419
$GC,5945,-1.08,-146.6,601.0,-13.6,286,5949,0.00,2.42,0.00,0.000,6,0.000,0.037,2128,2599,3419
$GC,6267,-1.08,-146.6,629.9,-6.5,302,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3419
$GC,6576,-1.08,-146.6,637.9,-3.1,317,6580,0.00,2.35,0.00,0.000,4,0.000,0.072,2129,3857,3418
$GC,6735,-1.08,-146.6,646.9,-3.7,324,6739,0.00,2.12,0.00,0.000,6,0.000,0.031,2129,2608,3418
$GC,7062,-1.08,-146.6,663.0,-5.8,340,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3417
$GC,7371,-1.08,-146.6,699.6,-14.5,355,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3416
$GC,7680,-1.08,-146.6,741.1,-14.9,370,7684,0.00,2.38,0.00,0.000,4,0.000,0.077,2129,3861,3415
$GC,7758,-1.13,-146.6,756.1,-16.4,373,7764,0.00,2.17,0.00,0.000,6,0.000,0.035,2128,2610,3414
$STATE,7823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7824,begin apogee
$GC,7831,-0.31,0.0,768.5,18.4,377,7966,0.77,0.00,130.18,1.101,6,0.089,0.000,2289,2296,2817
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7970,1.03,146.6,770.3,0.0,384,8110,1.42,2.75,131.52,1.087,4,0.094,0.069,2577,3706,2218
$GC,8368,1.17,362.8,762.4,0.1,401,8572,0.17,2.50,194.62,1.079,6,0.052,0.035,2621,2305,1336
$GC,8878,1.11,362.8,687.9,13.2,426,8882,0.00,2.65,0.00,0.000,4,0.000,0.064,2621,3703,1325
$GC,8933,1.03,362.8,676.5,19.8,428,8940,0.20,2.50,0.00,0.000,6,0.100,0.035,2584,2297,1325
$GC,9250,1.08,362.8,614.9,18.9,444,9254,0.00,2.60,0.00,0.000,4,0.000,0.057,2584,891,1323
$GC,9271,1.13,362.8,610.8,18.1,445,9276,0.10,2.53,0.00,0.000,6,0.067,0.038,2608,2308,1322
$GC,9593,1.13,362.8,560.6,15.7,461,9597,0.00,2.62,0.00,0.000,4,0.000,0.064,2608,3706,1321
$GC,9614,1.13,362.8,557.0,15.5,462,9618,0.00,2.50,0.00,0.000,6,0.000,0.032,2608,2295,1321
$GC,9935,1.13,362.8,514.0,11.6,478,9940,0.00,2.55,0.00,0.000,4,0.000,0.052,2608,895,1320
$GC,9975,1.13,362.8,509.1,12.5,480,9979,0.00,2.50,0.00,0.000,6,0.000,0.036,2608,2306,1319
$GC,10302,1.13,362.8,469.0,12.7,496,10306,0.00,2.55,0.00,0.000,4,0.000,0.049,2608,894,1319
$GC,10353,1.13,362.8,462.2,13.8,498,10357,0.00,2.47,0.00,0.000,6,0.000,0.035,2608,2304,1319
$GC,10668,1.13,362.8,424.0,10.7,513,10673,0.00,2.55,0.00,0.000,4,0.000,0.048,2608,892,1319
$GC,10719,1.13,362.8,418.9,10.5,515,10723,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2305,1319
$GC,11034,1.13,362.8,387.6,9.3,530,11038,0.00,2.55,0.00,0.000,4,0.000,0.048,2608,892,1319
$GC,11055,1.13,362.8,385.7,8.4,531,11060,0.00,2.47,0.00,0.000,6,0.000,0.034,2608,2305,1319
$GC,11377,1.13,362.8,353.9,10.2,547,11381,0.00,2.53,0.00,0.000,4,0.000,0.046,2608,892,1319
$GC,11438,1.13,362.8,347.7,9.5,549,11444,0.00,2.47,0.00,0.000,6,0.000,0.034,2608,2306,1318
$GC,11753,1.13,362.8,317.1,10.3,565,11758,0.00,2.55,0.00,0.000,4,0.000,0.046,2608,889,1319
$GC,11811,1.18,362.8,311.3,10.3,567,11817,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2306,1319
$GC,12127,1.18,362.8,278.1,11.2,583,12131,0.00,2.55,0.00,0.000,4,0.000,0.045,2608,886,1319
$GC,12182,1.18,362.8,271.7,11.3,585,12188,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2308,1319
$GC,12498,1.18,362.8,233.4,12.0,601,12502,0.00,2.55,0.00,0.000,4,0.000,0.045,2608,886,1319
$GC,12549,1.22,362.8,226.9,12.5,603,12554,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2305,1318
$GC,12870,1.22,362.8,187.9,12.1,619,12875,0.00,2.55,0.00,0.000,4,0.000,0.044,2608,885,1319
$GC,12911,1.22,362.8,183.0,12.1,621,12915,0.00,2.47,0.00,0.000,6,0.000,0.033,2608,2303,1319
$GC,13238,1.22,362.8,144.9,11.5,637,13242,0.00,2.53,0.00,0.000,4,0.000,0.044,2608,891,1319
$GC,13278,1.26,362.8,140.2,11.8,639,13283,0.12,2.45,0.00,0.000,6,0.060,0.033,2639,2301,1319
$GC,13606,1.21,362.8,97.7,13.1,655,13610,0.00,2.53,0.00,0.000,4,0.000,0.044,2640,889,1319
$GC,13672,1.21,362.8,88.4,13.6,658,13676,0.00,2.47,0.00,0.000,6,0.000,0.032,2640,2310,1319
$GC,13994,1.15,362.8,48.7,11.0,674,13999,0.15,2.53,0.00,0.000,4,0.100,0.044,2612,891,1320
$GC,14083,1.15,362.8,39.1,10.3,678,14087,0.00,2.45,0.00,0.000,6,0.000,0.032,2612,2302,1320
$GC,14404,1.15,362.8,4.8,11.2,694,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2302,1320
$STATE,14422,end climb,SURFACE_DEPTH_REACHED
$STATE,14422,begin surface coast
$FINISH,0.6,1.015139
$STATE,14444,end surface coast,CONTROL_FINISHED_OK
$STATE,14444,begin surface
$SM_CCo,14528,0.00,0.000,0,0,1319,367.46
$SM_GC,1.53,12.25,0.00,0.00,0.094,0.000,0.000,68,2600,1319,-10.45,0.00,367.46
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1751
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.8,74.7
$24V_AH,23.6,25.187
$10V_AH,10.1,12.483
$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,26.975,156.750,456.325,0.000,0.000,33.158,37.021,142.760,6.000,0.000,0.000,12.550,1322.815,10841.928,537.207,1685.642,465.313,0.000,1428.448,0.000,1636.439,0.000,41.536,0.000
$DEVICE_MAMPS,179.478,77.467,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.808,473.190,401.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34863,696
$CAP_FILE_SIZE,116164,0
$CFSIZE,260165632,250466304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010709,131406,6354.635,-1328.960,33,1.5,33,-12.7