version: 66.04
glider: 16
mission: 13
dive: 86
start: 6 21 109 1 24 27
data:
$ID,16
$MISSION,13
$DIVE,86
$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,-2109145.8
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,011201,6235.676,-1208.080,39,1.4,39,-11.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.3
$GPS2,012408,6235.696,-1208.222,14,1.2,14,-11.4
$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,319.9,12801,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.78,0.000,6,0.000,0.000,75,2599,3415
$GC,81,-1.03,-146.6,5.5,-9.3,3,103,11.70,2.53,0.00,0.000,4,0.176,0.036,2130,1187,3417
$GC,257,-1.03,-146.6,32.5,-7.1,10,263,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2597,3417
$GC,574,-1.03,-146.6,58.1,-8.4,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,882,-1.03,-146.6,84.6,-8.7,41,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,1191,-1.03,-146.6,112.2,-9.1,56,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,1501,-1.03,-146.6,140.7,-9.4,71,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,1810,-1.03,-146.6,169.5,-9.4,86,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,2119,-1.03,-146.6,199.4,-9.7,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3418
$GC,2428,-1.03,-146.6,229.2,-9.5,116,2433,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1183,3418
$GC,2468,-1.03,-146.6,233.1,-9.7,118,2472,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2600,3417
$GC,2795,-1.03,-146.6,264.5,-9.8,134,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3104,-1.03,-146.6,294.9,-9.8,149,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3414,-1.03,-146.6,325.1,-9.5,164,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,3723,-1.03,-146.6,355.0,-9.4,179,3726,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1190,3417
$GC,3769,-1.03,-146.6,359.2,-9.6,181,3773,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3417
$GC,4095,-1.03,-146.6,388.7,-8.9,197,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,4404,-1.03,-146.6,416.3,-8.9,212,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3417
$GC,4714,-1.03,-146.6,444.0,-8.9,227,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5023,-1.03,-146.6,472.4,-9.2,242,5027,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1184,3416
$GC,5067,-1.08,-146.6,476.5,-8.8,244,5071,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2605,3416
$GC,5388,-1.08,-146.6,505.4,-8.9,260,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3416
$GC,5697,-1.08,-146.6,533.3,-8.8,275,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3415
$GC,6006,-1.08,-146.6,561.1,-9.1,290,6010,0.00,2.50,0.00,0.000,4,0.000,0.042,2130,1182,3415
$GC,6039,-1.08,-146.6,564.1,-9.1,291,6043,0.00,2.50,0.00,0.000,6,0.000,0.039,2130,2609,3415
$GC,6355,-1.08,-146.6,592.4,-8.9,306,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3415
$GC,6664,-1.08,-146.6,619.0,-8.4,321,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2609,3415
$GC,6973,-1.08,-146.6,644.3,-8.1,336,6977,0.00,2.50,0.00,0.000,4,0.000,0.042,2129,1186,3415
$GC,7030,-1.13,-146.6,649.1,-8.7,338,7034,0.00,2.50,0.00,0.000,6,0.000,0.040,2130,2608,3415
$GC,7345,-1.13,-146.6,677.5,-9.4,353,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3415
$GC,7654,-1.13,-146.6,705.9,-8.8,368,7659,0.00,2.50,0.00,0.000,4,0.000,0.043,2130,1190,3414
$GC,7699,-1.19,-146.6,709.8,-8.3,370,7704,0.15,2.50,0.00,0.000,6,0.045,0.041,2085,2608,3414
$GC,8021,-1.09,-146.6,744.9,-11.4,386,8023,0.17,0.00,0.00,0.000,6,0.099,0.000,2118,2608,3414
$GC,8330,-1.09,-146.6,772.3,-8.0,401,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2608,3414
$GC,8639,-1.09,-146.6,795.2,-7.4,416,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2608,3414
$GC,8948,-1.09,-146.6,818.3,-7.7,431,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2608,3413
$GC,9257,-1.09,-146.6,843.8,-8.6,446,9262,0.00,2.55,0.00,0.000,4,0.000,0.048,2118,1187,3412
$STATE,9330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9330,begin apogee
$GC,9339,-0.31,0.0,850.0,9.0,449,9474,0.82,0.00,131.23,1.121,6,0.108,0.000,2286,2301,2817
$STATE,9475,end apogee,CONTROL_FINISHED_OK
$STATE,9475,begin climb
$GC,9477,1.03,146.6,854.1,0.0,456,9621,1.42,2.83,133.65,1.111,4,0.076,0.075,2583,3711,2218
$GC,9728,0.86,151.8,843.6,7.3,468,9740,0.17,2.53,5.55,0.792,6,0.100,0.037,2551,2303,2197
$GC,10052,0.83,176.1,822.8,6.7,483,10081,0.00,2.67,23.40,1.040,4,0.000,0.057,2550,901,2096
$GC,10150,0.80,190.9,816.1,7.0,487,10170,0.00,2.53,14.55,0.992,6,0.000,0.041,2551,2305,2038
$GC,10492,0.80,190.9,791.3,7.5,504,10496,0.00,2.65,0.00,0.000,4,0.000,0.072,2549,3703,2033
$GC,10559,0.74,190.9,785.0,9.6,507,10564,0.15,2.47,0.00,0.000,6,0.107,0.035,2523,2298,2033
$GC,10881,0.83,200.3,761.3,7.2,523,10895,0.00,2.60,8.93,0.907,4,0.000,0.054,2523,897,2000
$GC,10935,0.90,200.3,757.0,7.9,525,10940,0.15,2.53,0.00,0.000,6,0.049,0.040,2564,2308,1997
$GC,11251,0.90,200.3,731.4,7.5,540,11255,0.00,2.62,0.00,0.000,4,0.000,0.069,2564,3704,1997
$GC,11323,0.81,200.3,725.4,8.6,543,11328,0.15,2.47,0.00,0.000,6,0.103,0.033,2536,2298,1996
$GC,11640,0.87,210.9,703.5,7.1,558,11653,0.00,0.00,11.12,0.919,6,0.000,0.000,2536,2298,1957
$GC,11948,0.93,210.9,678.6,8.3,573,11950,0.12,0.00,0.00,0.000,6,0.053,0.000,2574,2298,1955
$GC,12257,0.93,210.9,648.7,9.8,588,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2298,1955
$GC,12567,0.88,210.9,619.8,9.1,603,12569,0.10,0.00,0.00,0.000,6,0.100,0.000,2554,2298,1954
$GC,12875,0.88,210.9,594.5,7.9,618,12880,0.00,2.62,0.00,0.000,4,0.000,0.064,2555,3704,1954
$GC,12915,0.88,210.9,591.1,8.7,620,12919,0.00,2.45,0.00,0.000,6,0.000,0.031,2554,2296,1954
$GC,13248,0.88,210.9,565.7,7.6,636,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2296,1954
$GC,13557,0.88,210.9,542.4,7.5,651,13561,0.00,2.62,0.00,0.000,4,0.000,0.063,2554,3708,1953
$GC,13600,0.88,210.9,538.6,8.5,653,13605,0.00,2.45,0.00,0.000,6,0.000,0.031,2554,2298,1954
$GC,13922,0.90,221.2,515.2,7.1,669,13935,0.00,0.00,10.93,0.804,6,0.000,0.000,2555,2298,1915
$GC,14230,0.90,221.2,491.5,7.9,684,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2298,1914
$GC,14539,0.90,221.2,467.1,8.0,699,14544,0.00,2.60,0.00,0.000,4,0.000,0.062,2554,3704,1914
$GC,14590,0.90,221.2,462.6,9.3,701,14594,0.00,2.45,0.00,0.000,6,0.000,0.031,2554,2294,1914
$GC,14905,0.90,221.2,436.2,8.4,716,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2294,1914
$GC,15215,0.90,221.2,411.7,7.9,731,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1914
$GC,15524,0.90,229.2,388.8,7.2,746,15535,0.00,0.00,8.88,0.706,6,0.000,0.000,2555,2294,1882
$GC,15834,0.96,245.9,366.4,6.9,761,15853,0.00,0.00,16.60,0.757,6,0.000,0.000,2555,2294,1814
$GC,16163,1.03,251.1,342.6,7.3,777,16172,0.15,0.00,6.18,0.621,6,0.046,0.000,2601,2294,1793
$GC,16472,0.97,251.1,314.2,9.1,792,16477,0.15,2.62,0.00,0.000,4,0.090,0.060,2571,3709,1791
$GC,16511,0.97,251.1,310.6,8.3,794,16515,0.00,2.45,0.00,0.000,6,0.000,0.031,2570,2298,1791
$GC,16844,0.97,251.1,283.9,8.1,810,16848,0.00,2.50,0.00,0.000,4,0.000,0.048,2571,898,1791
$GC,16888,0.97,251.1,280.2,8.4,812,16892,0.00,2.47,0.00,0.000,6,0.000,0.035,2571,2309,1789
$GC,17208,0.97,251.1,254.0,8.0,828,17209,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1789
$GC,17518,0.97,251.1,229.8,7.9,843,17519,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1789
$GC,17827,0.97,251.1,203.6,8.8,858,17828,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1789
$GC,18136,0.97,251.1,175.2,9.6,873,18137,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2308,1789
$GC,18446,0.97,251.1,145.5,9.8,888,18447,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1789
$GC,18756,0.97,251.1,113.5,10.5,903,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2309,1789
$GC,19064,0.97,251.1,84.8,8.5,918,19068,0.00,2.53,0.00,0.000,4,0.000,0.045,2571,892,1789
$GC,19105,1.01,251.1,81.3,7.9,920,19109,0.00,2.45,0.00,0.000,6,0.000,0.035,2571,2300,1789
$GC,19432,1.05,285.6,56.7,6.3,936,19465,0.00,0.00,31.27,0.595,6,0.000,0.000,2571,2300,1651
$GC,19763,1.14,304.5,33.5,6.9,952,19783,0.17,0.00,17.08,0.560,6,0.041,0.000,2623,2301,1573
$STATE,20027,end climb,SURFACE_DEPTH_REACHED
$STATE,20027,begin surface coast
$FINISH,0.7,1.018105
$STATE,20047,end surface coast,CONTROL_FINISHED_OK
$STATE,20047,begin surface
$SM_CCo,20130,0.00,0.000,0,0,1566,306.87
$SM_GC,1.46,11.98,0.00,0.00,0.077,0.000,0.000,74,2604,1566,-10.46,0.14,306.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1725
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.0,8.1
$24V_AH,23.6,18.217
$10V_AH,10.1,8.565
$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,27.575,96.175,419.350,0.000,0.000,58.186,95.215,320.223,7.750,0.000,0.000,14.585,1703.528,15989.386,527.313,1880.568,755.256,0.000,1436.277,0.000,1835.603,0.000,54.564,0.000
$DEVICE_MAMPS,176.410,75.166,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.749,668.204,547.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,966
$CAP_FILE_SIZE,134238,0
$CFSIZE,260165632,253452288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210609,070107,6238.178,-1215.958,34,1.4,34,-11.4