version: 66.04
glider: 16
mission: 13
dive: 98
start: 6 23 109 14 27 55
data:
$ID,16
$MISSION,13
$DIVE,98
$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,-2109373.8
$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,33
$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
$GPS1,142255,6259.644,-1302.954,40,1.6,40,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.6
$GPS2,142738,6259.630,-1303.033,16,1.2,16,-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,352.7,30163,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.83,0.000,6,0.000,0.000,70,2613,3415
$GC,80,-1.03,-146.6,7.5,-13.9,3,102,11.95,2.55,0.00,0.000,4,0.186,0.038,2130,1191,3416
$GC,316,-1.03,-146.6,42.4,-9.2,13,320,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2595,3418
$GC,631,-1.03,-146.6,71.5,-9.5,28,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2594,3418
$GC,941,-1.03,-146.6,101.9,-9.9,43,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3418
$GC,1250,-1.03,-146.6,132.0,-9.5,58,1254,0.00,2.47,0.00,0.000,4,0.000,0.039,2130,1193,3418
$GC,1290,-1.03,-146.6,135.9,-9.5,60,1294,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3418
$GC,1617,-1.03,-146.6,168.7,-10.2,76,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,1926,-1.03,-146.6,199.1,-9.8,91,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,2235,-1.03,-146.6,228.5,-9.4,106,2239,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1186,3418
$GC,2275,-1.07,-146.6,232.3,-10.1,108,2279,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2607,3418
$GC,2601,-1.07,-146.6,262.4,-8.9,124,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,2910,-1.07,-146.6,291.7,-9.3,139,2914,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1191,3418
$GC,2937,-1.07,-146.6,294.3,-9.1,140,2941,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,3253,-1.07,-146.6,324.6,-9.7,155,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,3562,-1.07,-146.6,353.5,-9.0,170,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3871,-1.07,-146.6,381.1,-8.8,185,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4180,-1.07,-146.6,407.9,-8.7,200,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4490,-1.07,-146.6,435.8,-9.4,215,4493,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1193,3417
$GC,4529,-1.12,-146.6,439.6,-8.9,216,4535,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3417
$GC,4844,-1.12,-146.6,469.7,-9.9,232,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,5154,-1.12,-146.6,500.0,-9.8,247,5158,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1194,3417
$GC,5200,-1.18,-146.6,504.2,-8.7,249,5205,0.12,2.47,0.00,0.000,6,0.048,0.038,2091,2605,3417
$GC,5527,-1.09,-146.6,539.5,-10.6,265,5529,0.15,0.00,0.00,0.000,6,0.099,0.000,2120,2605,3417
$GC,5836,-1.09,-146.6,566.0,-8.3,280,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2605,3417
$GC,6145,-1.09,-146.6,593.9,-9.7,295,6149,0.00,2.50,0.00,0.000,4,0.000,0.042,2120,1188,3417
$GC,6207,-1.09,-146.6,600.0,-10.2,298,6216,0.00,2.50,0.00,0.000,6,0.000,0.039,2120,2610,3417
$GC,6543,-1.09,-146.6,630.5,-8.3,314,6547,0.00,2.50,0.00,0.000,4,0.000,0.041,2119,1193,3416
$GC,6590,-1.09,-146.6,634.2,-8.7,316,6594,0.00,2.47,0.00,0.000,6,0.000,0.040,2120,2599,3416
$GC,6916,-1.09,-146.6,660.0,-8.1,332,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2599,3416
$GC,7226,-1.09,-146.6,687.0,-9.1,347,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2599,3415
$STATE,7306,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7306,begin apogee
$GC,7313,-0.31,0.0,693.3,7.3,351,7448,0.85,0.00,128.23,1.014,6,0.101,0.000,2292,2291,2816
$STATE,7449,end apogee,CONTROL_FINISHED_OK
$STATE,7449,begin climb
$GC,7452,1.03,146.6,699.7,0.0,358,7592,1.33,2.72,130.05,1.002,4,0.046,0.070,2588,3701,2219
$GC,7654,0.85,146.6,693.9,7.7,367,7661,0.22,2.47,0.00,0.000,6,0.095,0.033,2545,2305,2214
$GC,7970,0.89,186.5,674.1,6.1,383,8009,0.00,0.00,35.97,0.968,6,0.000,0.000,2545,2303,2055
$GC,8319,0.99,278.8,655.6,4.3,400,8407,0.15,0.00,85.12,0.981,6,0.051,0.000,2587,2303,1680
$GC,8708,0.99,278.8,624.6,9.2,419,8713,0.00,2.58,0.00,0.000,4,0.000,0.054,2587,895,1670
$GC,8885,0.99,278.8,604.4,12.8,427,8889,0.00,2.50,0.00,0.000,6,0.000,0.038,2587,2304,1667
$GC,9211,0.99,278.8,564.5,11.5,443,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2304,1667
$GC,9520,0.99,278.8,541.0,7.9,458,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1666
$GC,9829,0.99,278.8,512.5,10.4,473,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2304,1665
$GC,10139,0.99,278.8,478.8,10.3,488,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2304,1665
$GC,10448,0.99,278.8,448.3,9.4,503,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2304,1666
$GC,10757,0.99,278.8,417.1,10.2,518,10762,0.00,2.53,0.00,0.000,4,0.000,0.046,2587,897,1665
$GC,10797,0.99,278.8,412.8,10.4,520,10802,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2304,1665
$GC,11125,0.99,278.8,379.6,10.1,536,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1665
$GC,11434,0.99,278.8,349.1,9.6,551,11438,0.00,2.53,0.00,0.000,4,0.000,0.045,2587,895,1665
$GC,11496,0.99,278.8,343.0,9.8,554,11500,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2300,1665
$GC,11822,0.99,278.8,310.3,10.5,570,11826,0.00,2.58,0.00,0.000,4,0.000,0.062,2587,3697,1665
$GC,11854,0.99,278.8,306.7,10.9,571,11861,0.00,2.42,0.00,0.000,6,0.000,0.030,2587,2299,1665
$GC,12170,0.99,278.8,273.6,10.5,587,12175,0.00,2.50,0.00,0.000,4,0.000,0.047,2587,897,1665
$GC,12215,0.99,278.8,268.8,11.1,589,12219,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2299,1665
$GC,12536,0.99,278.8,236.2,9.9,605,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2299,1665
$GC,12845,0.99,278.8,206.3,10.0,620,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2299,1665
$GC,13154,0.99,278.8,174.5,10.1,635,13158,0.00,2.50,0.00,0.000,4,0.000,0.045,2586,896,1665
$GC,13197,0.99,278.8,170.0,9.8,637,13202,0.00,2.45,0.00,0.000,6,0.000,0.035,2587,2302,1665
$GC,13519,0.99,278.8,139.8,9.1,653,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1665
$GC,13830,0.99,278.8,111.9,9.1,668,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2302,1665
$GC,14138,0.99,278.8,81.0,10.2,683,14142,0.00,2.53,0.00,0.000,4,0.000,0.044,2587,889,1665
$GC,14210,0.99,278.8,73.1,10.2,686,14215,0.00,2.47,0.00,0.000,6,0.000,0.035,2587,2308,1665
$GC,14526,0.99,278.8,42.0,9.6,701,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2308,1665
$GC,14835,0.99,278.8,13.1,9.3,716,14840,0.00,2.53,0.00,0.000,4,0.000,0.043,2587,890,1665
$STATE,14922,end climb,SURFACE_DEPTH_REACHED
$STATE,14922,begin surface coast
$FINISH,0.7,1.017250
$STATE,14942,end surface coast,CONTROL_FINISHED_OK
$STATE,14942,begin surface
$SM_CCo,15028,0.00,0.000,0,0,1663,283.08
$SM_GC,1.65,11.62,0.00,0.00,0.072,0.000,0.000,74,2600,1663,-10.46,0.00,283.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1744
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.4,77.5
$24V_AH,23.6,19.657
$10V_AH,10.1,9.477
$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,26.400,86.000,379.375,0.000,0.000,18.064,27.586,127.674,5.500,0.000,0.000,16.232,1283.132,11654.521,487.652,1499.440,386.488,0.000,1219.205,0.000,1460.878,0.000,39.653,0.000
$DEVICE_MAMPS,185.614,69.797,1013.974,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.013,492.360,442.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34834,721
$CAP_FILE_SIZE,96375,0
$CFSIZE,260165632,252792832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230609,183936,6301.452,-1306.932,37,1.1,37,-12.1