version: 66.04
glider: 16
mission: 13
dive: 95
start: 6 23 109 0 13 7
data:
$ID,16
$MISSION,13
$DIVE,95
$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,-2109323
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,000331,6252.343,-1258.689,43,1.0,43,-11.9
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.6
$GPS2,001249,6252.379,-1258.635,9,1.1,15,-11.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$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,353.9,44058,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.15,0.000,6,0.000,0.000,73,2611,3415
$GC,80,-1.03,-146.6,7.4,-14.1,3,102,11.85,2.55,0.00,0.000,4,0.182,0.040,2129,1196,3416
$GC,248,-1.03,-146.6,36.3,-7.7,10,253,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2588,3417
$GC,564,-1.03,-146.6,62.3,-9.0,25,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2588,3417
$GC,874,-1.03,-146.6,94.3,-10.6,40,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2588,3417
$GC,1184,-1.03,-146.6,124.2,-9.1,55,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2588,3417
$GC,1493,-1.03,-146.6,151.5,-8.8,70,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,1801,-1.03,-146.6,178.0,-8.2,85,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,2110,-1.03,-146.6,204.2,-9.0,100,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,2419,-1.03,-146.6,232.1,-8.7,115,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3416
$GC,2729,-1.03,-146.6,259.3,-8.6,130,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,3038,-1.03,-146.6,286.2,-8.5,145,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,3347,-1.03,-146.6,312.8,-8.4,160,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,3656,-1.03,-146.6,339.5,-8.9,175,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,3965,-1.03,-146.6,367.4,-9.1,190,3970,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1196,3417
$GC,4006,-1.07,-146.6,371.0,-8.9,192,4010,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2605,3417
$GC,4333,-1.07,-146.6,399.8,-8.8,208,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2606,3416
$GC,4642,-1.07,-146.6,427.4,-9.2,223,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3416
$GC,4951,-1.07,-146.6,454.8,-8.9,238,4955,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1197,3416
$GC,4984,-1.07,-146.6,457.8,-9.2,239,4990,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2607,3416
$GC,5299,-1.07,-146.6,486.0,-9.1,255,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3416
$GC,5608,-1.07,-146.6,516.3,-10.1,270,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3415
$GC,5918,-1.07,-146.6,543.8,-8.5,285,5922,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1194,3415
$GC,5957,-1.12,-146.6,547.3,-9.0,286,5963,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2601,3415
$GC,6273,-1.12,-146.6,575.9,-9.9,302,6277,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1196,3415
$GC,6329,-1.18,-146.6,581.4,-9.8,304,6336,0.12,2.47,0.00,0.000,6,0.048,0.039,2089,2604,3415
$GC,6645,-1.08,-146.6,613.0,-9.3,320,6647,0.17,0.00,0.00,0.000,6,0.097,0.000,2122,2604,3415
$GC,6954,-1.08,-146.6,638.3,-8.2,335,6958,0.00,2.47,0.00,0.000,4,0.000,0.042,2122,1197,3415
$GC,6987,-1.12,-146.6,641.1,-8.4,336,6993,0.00,2.47,0.00,0.000,6,0.000,0.040,2122,2602,3415
$GC,7303,-1.12,-146.6,668.8,-8.8,352,7307,0.00,2.50,0.00,0.000,4,0.000,0.043,2122,1188,3415
$GC,7381,-1.17,-146.6,675.5,-8.2,355,7388,0.00,2.50,0.00,0.000,6,0.000,0.041,2122,2602,3415
$GC,7697,-1.17,-146.6,700.5,-8.2,371,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2602,3414
$GC,8006,-1.17,-146.6,728.1,-9.5,386,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2602,3414
$STATE,8044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8044,begin apogee
$GC,8052,-0.31,0.0,731.3,9.0,388,8187,0.85,0.00,129.40,1.033,6,0.122,0.000,2287,2293,2816
$STATE,8188,end apogee,CONTROL_FINISHED_OK
$STATE,8188,begin climb
$GC,8191,1.03,146.6,736.6,0.0,395,8330,1.40,2.75,131.38,1.029,4,0.087,0.071,2576,3702,2218
$GC,8577,0.90,146.6,713.9,8.8,411,8583,0.00,2.47,0.00,0.000,6,0.000,0.034,2576,2308,2212
$GC,8893,0.82,148.8,690.2,7.4,427,8895,0.20,0.00,0.00,0.000,6,0.097,0.000,2538,2307,2210
$GC,9202,0.85,175.8,670.3,6.6,442,9233,0.00,2.70,25.80,0.959,4,0.000,0.068,2538,3703,2100
$GC,9285,0.85,175.8,664.4,7.8,446,9289,0.00,2.47,0.00,0.000,6,0.000,0.033,2538,2298,2098
$GC,9611,0.89,217.5,642.9,6.1,462,9656,0.00,2.65,38.90,0.966,4,0.000,0.055,2538,904,1929
$GC,9692,0.96,225.3,637.5,7.2,465,9708,0.15,2.50,8.52,0.820,6,0.051,0.038,2579,2305,1897
$GC,10031,0.92,225.3,609.9,8.6,482,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,1893
$GC,10339,0.92,225.3,582.6,8.6,497,10343,0.00,2.55,0.00,0.000,4,0.000,0.048,2579,895,1891
$GC,10410,0.92,225.3,575.8,9.4,500,10415,0.00,2.50,0.00,0.000,6,0.000,0.037,2579,2309,1889
$GC,10726,0.92,225.3,546.1,10.0,515,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2309,1890
$GC,11036,0.87,225.3,515.2,9.9,530,11041,0.15,2.60,0.00,0.000,4,0.094,0.064,2551,3705,1890
$GC,11075,0.87,225.3,511.3,9.5,532,11080,0.00,2.45,0.00,0.000,6,0.000,0.031,2550,2296,1889
$GC,11403,0.92,225.3,485.0,7.8,548,11407,0.00,2.53,0.00,0.000,4,0.000,0.049,2550,895,1889
$GC,11442,0.92,225.3,481.6,8.7,550,11446,0.00,2.47,0.00,0.000,6,0.000,0.035,2550,2308,1889
$GC,11769,0.96,225.3,455.6,8.0,566,11773,0.00,2.60,0.00,0.000,4,0.000,0.063,2550,3707,1889
$GC,11824,0.96,225.3,450.7,9.1,568,11830,0.00,2.45,0.00,0.000,6,0.000,0.030,2550,2298,1889
$GC,12140,1.01,225.3,426.0,7.7,584,12145,0.12,2.53,0.00,0.000,4,0.049,0.048,2589,890,1889
$GC,12185,0.94,225.3,421.8,9.8,586,12190,0.12,2.47,0.00,0.000,6,0.095,0.035,2565,2306,1888
$GC,12506,0.94,225.3,394.7,8.2,602,12510,0.00,2.58,0.00,0.000,4,0.000,0.062,2565,3700,1889
$GC,12549,0.94,225.3,390.9,8.1,604,12554,0.00,2.42,0.00,0.000,6,0.000,0.030,2565,2297,1889
$GC,12871,0.94,225.3,365.0,8.0,620,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,1889
$GC,13180,0.94,225.3,339.5,8.5,635,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,1889
$GC,13489,0.94,225.3,313.8,8.1,650,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2298,1889
$GC,13798,0.94,225.3,287.7,8.3,665,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,1889
$GC,14108,0.94,225.3,263.6,7.5,680,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,1890
$GC,14417,0.94,225.3,240.0,7.9,695,14421,0.00,2.60,0.00,0.000,4,0.000,0.061,2565,3702,1890
$GC,14466,0.94,225.3,235.6,8.7,697,14470,0.00,2.42,0.00,0.000,6,0.000,0.030,2565,2296,1890
$GC,14788,0.94,225.3,209.6,8.0,713,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1890
$GC,15097,0.94,225.3,184.8,7.9,728,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1890
$GC,15406,0.94,225.3,160.9,7.7,743,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1890
$GC,15716,0.94,226.1,138.0,7.5,758,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2296,1890
$GC,16026,0.94,226.1,111.0,9.1,773,16028,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1890
$GC,16335,0.94,226.7,84.8,7.5,788,16339,0.00,2.58,0.00,0.000,4,0.000,0.059,2565,3701,1891
$GC,16375,0.94,226.7,81.6,8.2,790,16379,0.00,2.42,0.00,0.000,6,0.000,0.029,2565,2294,1891
$GC,16702,0.97,250.8,60.3,6.7,806,16726,0.00,0.00,22.60,0.576,6,0.000,0.000,2565,2294,1794
$GC,17032,1.02,250.8,36.4,7.9,822,17037,0.00,2.50,0.00,0.000,4,0.000,0.048,2565,895,1789
$GC,17100,1.07,250.8,30.5,8.2,825,17105,0.12,2.45,0.00,0.000,6,0.048,0.034,2601,2302,1788
$STATE,17398,end climb,SURFACE_DEPTH_REACHED
$STATE,17398,begin surface coast
$FINISH,0.7,1.019718
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17422,begin surface
$SM_CCo,17505,0.00,0.000,0,0,1784,253.15
$SM_GC,1.48,11.95,0.00,0.00,0.083,0.000,0.000,71,2609,1784,-10.45,0.20,253.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1729
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,90.6
$24V_AH,23.6,19.307
$10V_AH,10.1,9.264
$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,27.225,96.450,356.600,0.000,0.000,36.370,60.438,272.661,5.500,0.000,0.000,15.934,1490.117,13765.558,452.232,1723.870,630.073,0.000,1302.825,0.000,1684.207,0.000,38.651,0.000
$DEVICE_MAMPS,181.779,71.331,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.972,577.939,511.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41115,841
$CAP_FILE_SIZE,118613,0
$CFSIZE,260165632,252936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230609,050606,6254.186,-1302.430,38,1.1,38,-12.0