version: 66.04
glider: 16
mission: 13
dive: 96
start: 6 23 109 5 11 45
data:
$ID,16
$MISSION,13
$DIVE,96
$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,-2109339.8
$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,32
$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
$GPS1,050606,6254.186,-1302.430,38,1.1,38,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.5
$GPS2,051126,6254.190,-1302.441,16,1.1,16,-12.0
$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,356.8,39936,-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,-54.95,0.000,6,0.000,0.000,70,2610,3417
$GC,80,-1.03,-146.6,7.8,-14.8,3,102,11.98,2.55,0.00,0.000,4,0.185,0.038,2131,1192,3418
$GC,287,-1.03,-146.6,40.1,-9.1,12,291,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2598,3420
$GC,609,-1.03,-146.6,68.3,-8.9,28,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3419
$GC,918,-1.03,-146.6,95.8,-9.3,43,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3419
$GC,1227,-1.03,-146.6,124.8,-9.2,58,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3420
$GC,1536,-1.03,-146.6,152.2,-8.9,73,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2598,3420
$GC,1846,-1.03,-146.6,179.8,-9.4,88,1849,0.00,2.47,0.00,0.000,4,0.000,0.040,2131,1193,3420
$GC,1879,-1.03,-146.6,183.2,-9.8,89,1883,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2600,3420
$GC,2194,-1.03,-146.6,212.5,-9.4,104,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,2503,-1.03,-146.6,242.1,-9.2,119,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,2813,-1.03,-146.6,267.3,-7.8,134,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3122,-1.03,-146.6,291.6,-7.8,149,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,3431,-1.03,-146.6,317.4,-8.7,164,3435,0.00,2.47,0.00,0.000,4,0.000,0.040,2131,1193,3419
$GC,3481,-1.08,-146.6,321.8,-7.9,166,3485,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2601,3419
$GC,3797,-1.08,-146.6,348.6,-8.3,181,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,4106,-1.08,-146.6,374.8,-8.5,196,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,4417,-1.08,-146.6,400.7,-8.4,211,4420,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1192,3418
$GC,4456,-1.12,-146.6,404.2,-8.3,212,4462,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2603,3418
$GC,4771,-1.12,-146.6,430.4,-8.6,228,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,5081,-1.12,-146.6,455.9,-8.2,243,5085,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1193,3418
$GC,5125,-1.17,-146.6,459.6,-7.7,245,5130,0.12,2.47,0.00,0.000,6,0.048,0.038,2091,2601,3418
$GC,5447,-1.08,-146.6,493.5,-10.8,261,5449,0.17,0.00,0.00,0.000,6,0.098,0.000,2125,2602,3419
$GC,5755,-1.08,-146.6,520.3,-8.5,276,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2602,3418
$GC,6065,-1.08,-146.6,549.2,-9.5,291,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2602,3418
$GC,6374,-1.08,-146.6,576.8,-8.5,306,6378,0.00,2.47,0.00,0.000,4,0.000,0.042,2124,1194,3418
$GC,6430,-1.12,-146.6,581.7,-8.5,308,6436,0.00,2.47,0.00,0.000,6,0.000,0.038,2125,2602,3418
$GC,6746,-1.12,-146.6,608.6,-8.7,324,6750,0.00,2.50,0.00,0.000,4,0.000,0.041,2125,1185,3417
$GC,6795,-1.12,-146.6,613.1,-9.5,326,6800,0.00,2.50,0.00,0.000,6,0.000,0.039,2124,2606,3417
$GC,7111,-1.12,-146.6,642.6,-9.2,341,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2606,3417
$GC,7421,-1.12,-146.6,667.0,-7.6,356,7425,0.00,2.50,0.00,0.000,4,0.000,0.044,2125,1193,3416
$GC,7461,-1.17,-146.6,670.3,-8.4,358,7465,0.00,2.47,0.00,0.000,6,0.000,0.041,2124,2599,3416
$GC,7787,-1.17,-146.6,697.2,-8.6,374,7791,0.00,2.47,0.00,0.000,4,0.000,0.044,2124,1195,3416
$GC,7849,-1.24,-146.6,702.3,-8.8,376,7856,0.15,2.50,0.00,0.000,6,0.048,0.042,2082,2603,3416
$STATE,8039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8039,begin apogee
$GC,8046,-0.31,0.0,722.5,9.5,386,8181,1.10,0.00,129.32,1.032,6,0.137,0.000,2288,2293,2816
$STATE,8182,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8185,1.03,146.6,728.9,0.0,393,8323,1.42,0.00,131.18,1.021,6,0.078,0.000,2584,2293,2218
$GC,8636,0.93,160.9,705.3,7.0,415,8659,0.12,2.75,12.90,0.904,4,0.100,0.070,2562,3704,2161
$GC,8705,0.84,229.0,700.7,5.2,418,8776,0.00,2.47,63.00,0.994,6,0.000,0.034,2562,2307,1882
$GC,9098,0.84,229.0,665.8,10.0,437,9103,0.00,2.60,0.00,0.000,4,0.000,0.056,2561,894,1873
$GC,9161,0.84,229.0,660.4,8.7,440,9165,0.00,2.53,0.00,0.000,6,0.000,0.039,2561,2311,1871
$GC,9487,0.84,229.0,632.6,8.6,456,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2311,1871
$GC,9796,0.84,229.0,607.1,8.6,471,9801,0.00,2.58,0.00,0.000,4,0.000,0.050,2562,895,1870
$GC,9865,0.84,229.0,600.8,9.9,474,9869,0.00,2.50,0.00,0.000,6,0.000,0.038,2562,2307,1869
$GC,10186,0.84,229.0,573.2,8.2,490,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2307,1869
$GC,10495,0.84,229.0,546.3,8.7,505,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2307,1869
$GC,10804,0.84,229.0,519.5,9.1,520,10808,0.00,2.55,0.00,0.000,4,0.000,0.047,2561,894,1869
$GC,10848,0.84,229.0,515.5,8.7,522,10852,0.00,2.45,0.00,0.000,6,0.000,0.035,2561,2303,1868
$GC,11174,0.84,229.0,487.3,8.6,538,11179,0.00,2.60,0.00,0.000,4,0.000,0.064,2561,3699,1868
$GC,11230,0.84,229.0,481.7,10.1,540,11237,0.00,2.42,0.00,0.000,6,0.000,0.031,2561,2299,1868
$GC,11546,0.84,229.0,453.1,9.0,556,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1868
$GC,11855,0.84,229.0,426.1,8.5,571,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1868
$GC,12164,0.84,229.0,400.6,8.0,586,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,1868
$GC,12474,0.84,229.0,376.8,7.6,601,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,1868
$GC,12783,0.84,229.6,353.4,7.5,616,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,1868
$GC,13092,0.85,241.6,330.5,7.1,631,13108,0.00,2.62,10.48,0.692,4,0.000,0.060,2562,3701,1831
$GC,13142,0.85,241.6,326.6,7.8,632,13146,0.00,2.45,0.00,0.000,6,0.000,0.029,2561,2295,1830
$GC,13457,0.85,241.6,302.6,7.7,647,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1829
$GC,13767,0.89,241.6,277.1,8.6,662,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1829
$GC,14076,0.94,241.6,249.1,9.0,677,14077,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1829
$GC,14385,0.98,241.6,221.1,9.0,692,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1829
$GC,14695,1.02,241.6,193.8,8.7,707,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2295,1829
$GC,15004,1.07,241.6,168.0,8.1,722,15009,0.15,2.60,0.00,0.000,4,0.044,0.059,2607,3707,1830
$GC,15049,0.94,241.6,163.4,10.2,724,15054,0.20,2.42,0.00,0.000,6,0.091,0.029,2568,2299,1830
$GC,15370,0.95,247.6,138.8,7.3,740,15384,0.00,2.58,6.90,0.541,4,0.000,0.046,2568,894,1806
$GC,15425,0.97,262.1,134.5,7.0,742,15445,0.00,2.47,14.12,0.599,6,0.000,0.034,2567,2309,1747
$GC,15770,1.01,267.9,109.2,7.3,759,15778,0.00,0.00,6.40,0.512,6,0.000,0.000,2568,2309,1724
$GC,16079,1.07,267.9,86.4,7.8,774,16084,0.12,2.53,0.00,0.000,4,0.048,0.044,2607,898,1722
$GC,16119,1.01,267.9,82.3,10.3,776,16124,0.15,2.45,0.00,0.000,6,0.088,0.035,2578,2301,1721
$GC,16446,1.01,267.9,49.8,10.5,792,16450,0.00,2.58,0.00,0.000,4,0.000,0.060,2578,3704,1721
$GC,16501,1.01,267.9,43.6,11.3,794,16507,0.00,2.42,0.00,0.000,6,0.000,0.029,2578,2292,1721
$GC,16817,1.01,267.9,14.0,8.4,810,16821,0.00,2.47,0.00,0.000,4,0.000,0.045,2577,897,1721
$GC,16895,1.07,267.9,6.6,7.8,813,16901,0.00,2.42,0.00,0.000,6,0.000,0.033,2578,2302,1720
$STATE,16962,end climb,SURFACE_DEPTH_REACHED
$STATE,16962,begin surface coast
$FINISH,0.7,1.018270
$STATE,17003,end surface coast,CONTROL_FINISHED_OK
$STATE,17003,begin surface
$SM_CCo,17086,0.00,0.000,0,0,1716,269.83
$SM_GC,1.40,11.65,0.00,0.00,0.075,0.000,0.000,76,2601,1716,-10.45,0.03,269.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1724
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.4,56.9
$24V_AH,23.6,19.422
$10V_AH,10.1,9.338
$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,27.350,101.225,374.300,0.000,0.000,18.014,35.407,145.023,5.750,0.000,0.000,16.031,1460.634,13340.821,481.969,1669.592,453.094,0.000,1311.557,0.000,1634.350,0.000,39.874,0.000
$DEVICE_MAMPS,184.847,69.797,1031.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.982,560.967,499.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41188,819
$CAP_FILE_SIZE,113072,0
$CFSIZE,260165632,252878848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230609,095736,6257.695,-1301.757,29,1.4,29,-12.0