version: 66.04
glider: 16
mission: 13
dive: 84
start: 6 20 109 14 27 19
data:
$ID,16
$MISSION,13
$DIVE,84
$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,-2109117.2
$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,27
$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
$GPS1,142125,6232.303,-1152.620,42,1.6,42,-11.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.5
$GPS2,142702,6232.289,-1152.672,11,1.5,11,-11.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$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,312.8,27277,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,72,0.00,0.00,-54.35,0.000,6,0.000,0.000,73,2602,3418
$GC,75,-1.03,-146.6,3.8,-9.2,2,97,11.75,2.55,0.00,0.000,4,0.177,0.038,2136,1186,3418
$GC,214,-1.03,-146.6,32.9,-9.6,8,219,0.00,2.50,0.00,0.000,6,0.000,0.037,2136,2601,3419
$GC,536,-1.03,-146.6,68.2,-10.9,24,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2601,3420
$GC,845,-1.03,-146.6,99.5,-9.8,39,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2601,3420
$GC,1154,-1.03,-146.6,129.6,-9.6,54,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2601,3420
$GC,1463,-1.03,-146.6,159.5,-9.5,69,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2601,3421
$GC,1773,-1.03,-146.6,189.0,-9.8,84,1777,0.00,2.50,0.00,0.000,4,0.000,0.040,2136,1184,3420
$GC,1813,-1.09,-146.6,192.9,-9.3,86,1817,0.00,2.50,0.00,0.000,6,0.000,0.038,2136,2602,3420
$GC,2140,-1.09,-146.6,226.1,-10.1,102,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2602,3420
$GC,2448,-1.09,-146.6,255.8,-9.5,117,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2601,3419
$GC,2757,-1.09,-146.6,283.5,-8.8,132,2762,0.00,2.50,0.00,0.000,4,0.000,0.041,2136,1185,3420
$GC,2813,-1.13,-146.6,288.2,-8.5,134,2820,0.12,2.50,0.00,0.000,6,0.047,0.039,2096,2603,3420
$GC,3130,-1.03,-146.6,321.8,-10.9,150,3131,0.20,0.00,0.00,0.000,6,0.099,0.000,2134,2603,3420
$GC,3438,-1.03,-146.6,349.9,-8.9,165,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2603,3420
$GC,3747,-1.03,-146.6,378.3,-9.2,180,3752,0.00,2.50,0.00,0.000,4,0.000,0.041,2134,1185,3419
$GC,3792,-1.09,-146.6,382.5,-9.5,182,3797,0.00,2.47,0.00,0.000,6,0.000,0.039,2134,2600,3420
$GC,4113,-1.09,-146.6,412.1,-9.1,198,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,4423,-1.09,-146.6,439.8,-8.8,213,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,4732,-1.09,-146.6,467.3,-8.9,228,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2600,3419
$GC,5041,-1.09,-146.6,494.9,-9.0,243,5045,0.00,2.50,0.00,0.000,4,0.000,0.041,2134,1181,3418
$GC,5086,-1.15,-146.6,499.1,-8.7,245,5091,0.12,2.50,0.00,0.000,6,0.048,0.039,2094,2602,3418
$GC,5408,-1.06,-146.6,534.4,-11.1,261,5410,0.17,0.00,0.00,0.000,6,0.100,0.000,2128,2603,3418
$GC,5717,-1.06,-146.6,562.8,-9.0,276,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3418
$GC,6026,-1.06,-146.6,589.2,-8.3,291,6030,0.00,2.50,0.00,0.000,4,0.000,0.041,2126,1184,3418
$GC,6082,-1.10,-146.6,594.0,-9.0,293,6086,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2603,3418
$GC,6397,-1.10,-146.6,620.7,-8.7,308,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2604,3418
$GC,6707,-1.10,-146.6,646.4,-8.3,323,6711,0.00,2.50,0.00,0.000,4,0.000,0.042,2128,1189,3418
$GC,6746,-1.16,-146.6,649.6,-8.4,324,6752,0.00,2.50,0.00,0.000,6,0.000,0.040,2128,2608,3418
$GC,7062,-1.16,-146.6,675.2,-8.4,340,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,7371,-1.16,-146.6,699.6,-7.4,355,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,7680,-1.16,-146.6,722.7,-7.8,370,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,7989,-1.16,-146.6,748.0,-8.3,385,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,8299,-1.16,-146.6,772.9,-8.3,400,8303,0.00,2.38,0.00,0.000,4,0.000,0.081,2128,3862,3416
$GC,8343,-1.16,-146.6,777.2,-9.7,402,8347,0.00,2.20,0.00,0.000,6,0.000,0.035,2128,2593,3416
$GC,8671,-1.21,-146.6,803.4,-6.9,418,8675,0.15,2.50,0.00,0.000,4,0.047,0.051,2085,1198,3416
$STATE,8746,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8746,begin apogee
$GC,8755,-0.31,0.0,810.8,10.5,421,8889,1.02,0.00,130.68,1.104,6,0.127,0.000,2285,2301,2817
$STATE,8890,end apogee,CONTROL_FINISHED_OK
$STATE,8890,begin climb
$GC,8893,1.03,146.6,816.9,0.0,428,9030,1.38,0.00,132.62,1.095,6,0.075,0.000,2578,2301,2218
$GC,9326,0.92,163.4,794.5,6.9,449,9348,0.00,2.62,15.43,0.986,4,0.000,0.054,2579,901,2150
$GC,9491,0.84,163.4,782.2,7.9,456,9496,0.17,2.53,0.00,0.000,6,0.094,0.042,2545,2305,2146
$GC,9811,0.84,163.4,758.3,7.9,472,9816,0.00,2.67,0.00,0.000,4,0.000,0.074,2546,3710,2146
$GC,9919,0.77,163.4,748.8,8.9,477,9923,0.00,2.50,0.00,0.000,6,0.000,0.036,2545,2305,2145
$GC,10246,0.80,187.4,724.6,6.7,493,10270,0.00,0.00,22.25,0.999,6,0.000,0.000,2545,2305,2054
$GC,10575,0.83,211.5,702.4,6.7,509,10604,0.00,2.72,23.42,0.992,4,0.000,0.068,2545,3702,1954
$GC,10663,0.83,211.5,695.7,8.2,513,10667,0.00,2.47,0.00,0.000,6,0.000,0.034,2546,2297,1952
$GC,10989,0.83,211.5,670.3,8.0,529,10993,0.00,2.62,0.00,0.000,4,0.000,0.067,2545,3703,1949
$GC,11038,0.83,211.5,665.9,8.8,531,11042,0.00,2.45,0.00,0.000,6,0.000,0.033,2545,2299,1949
$GC,11360,0.83,211.5,640.1,8.0,547,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2299,1949
$GC,11669,0.83,217.9,617.0,7.3,562,11677,0.00,0.00,6.75,0.780,6,0.000,0.000,2545,2299,1928
$GC,11979,0.89,228.4,594.7,7.1,577,11992,0.00,0.00,11.32,0.858,6,0.000,0.000,2545,2298,1885
$GC,12287,0.89,228.4,571.3,7.7,592,12292,0.00,2.53,0.00,0.000,4,0.000,0.051,2545,895,1882
$GC,12332,0.94,228.4,567.5,8.1,594,12336,0.00,2.47,0.00,0.000,6,0.000,0.036,2545,2309,1881
$GC,12653,0.98,228.4,542.3,8.1,610,12658,0.15,2.60,0.00,0.000,4,0.048,0.064,2589,3705,1881
$GC,12698,0.86,228.4,537.6,10.6,612,12703,0.22,2.45,0.00,0.000,6,0.091,0.031,2545,2297,1881
$GC,13019,0.91,228.4,511.2,8.1,628,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2296,1882
$GC,13328,0.95,228.4,485.3,8.1,643,13333,0.00,2.60,0.00,0.000,4,0.000,0.062,2546,3706,1881
$GC,13368,0.95,228.4,481.9,8.3,645,13373,0.10,2.45,0.00,0.000,6,0.055,0.031,2577,2296,1881
$GC,13696,0.95,228.4,451.7,9.3,661,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2296,1882
$GC,14005,0.95,228.4,422.7,9.3,676,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2296,1881
$GC,14314,0.95,228.4,394.1,9.2,691,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2296,1881
$GC,14623,0.95,228.4,365.4,9.1,706,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2296,1881
$GC,14933,0.95,228.4,338.3,8.4,721,14937,0.00,2.60,0.00,0.000,4,0.000,0.061,2577,3704,1881
$GC,14972,0.89,228.4,334.5,9.8,723,14977,0.12,2.45,0.00,0.000,6,0.096,0.031,2553,2293,1882
$GC,15299,0.94,236.2,310.1,7.2,739,15310,0.00,0.00,8.32,0.662,6,0.000,0.000,2553,2292,1854
$GC,15608,0.99,236.2,286.7,7.5,754,15610,0.10,0.00,0.00,0.000,6,0.053,0.000,2586,2291,1852
$GC,15917,0.94,236.2,258.9,9.2,769,15922,0.00,2.60,0.00,0.000,4,0.000,0.061,2586,3704,1852
$GC,15968,0.85,236.2,253.9,9.4,771,15973,0.20,2.42,0.00,0.000,6,0.091,0.030,2547,2299,1852
$GC,16285,0.93,247.0,230.6,7.1,786,16298,0.00,0.00,11.15,0.653,6,0.000,0.000,2548,2299,1810
$GC,16594,1.01,247.0,207.5,7.7,801,16596,0.15,0.00,0.00,0.000,6,0.045,0.000,2591,2298,1808
$GC,16902,1.01,247.0,178.3,9.5,816,16904,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2297,1808
$GC,17212,0.97,247.0,149.1,9.6,831,17213,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2298,1808
$GC,17523,0.93,247.0,118.8,9.8,846,17525,0.15,0.00,0.00,0.000,6,0.088,0.000,2561,2298,1808
$GC,17831,0.97,247.0,92.1,8.1,861,17835,0.00,2.60,0.00,0.000,4,0.000,0.061,2561,3709,1808
$GC,17870,0.97,247.0,88.8,8.8,863,17875,0.00,2.45,0.00,0.000,6,0.000,0.031,2561,2292,1807
$GC,18198,1.01,247.0,63.1,7.6,879,18202,0.00,2.47,0.00,0.000,4,0.000,0.048,2561,899,1807
$GC,18242,1.07,247.0,59.7,8.3,881,18247,0.15,2.45,0.00,0.000,6,0.045,0.035,2607,2307,1807
$GC,18564,1.00,247.0,32.1,9.0,897,18569,0.15,2.58,0.00,0.000,4,0.085,0.061,2578,3708,1807
$GC,18614,1.00,247.0,27.2,9.3,899,18618,0.00,2.42,0.00,0.000,6,0.000,0.029,2578,2297,1807
$STATE,18907,end climb,SURFACE_DEPTH_REACHED
$STATE,18907,begin surface coast
$FINISH,0.8,1.026501
$STATE,18928,end surface coast,CONTROL_FINISHED_OK
$STATE,18929,begin surface
$SM_CCo,18951,0.57,0.120,0,0,1798,250.21
$SM_GC,2.83,0.00,0.00,0.57,0.000,0.000,0.120,68,2600,1798,-10.54,0.00,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,1717
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.1,94.6
$24V_AH,23.6,17.943
$10V_AH,10.1,8.396
$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,28.350,105.350,361.950,0.575,0.000,18.004,26.237,173.002,6.250,0.000,0.000,11.499,1637.435,14868.031,470.601,1831.075,484.001,0.000,1359.845,0.000,1794.461,0.000,43.217,0.000
$DEVICE_MAMPS,177.177,81.302,1103.713,119.652,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.029,627.853,520.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47407,914
$CAP_FILE_SIZE,127702,0
$CFSIZE,260165632,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,200609,194437,6234.455,-1159.426,47,1.9,47,-11.3