version: 66.04
glider: 16
mission: 13
dive: 99
start: 6 23 109 18 48 49
data:
$ID,16
$MISSION,13
$DIVE,99
$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,-2109387
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,183936,6301.452,-1306.932,37,1.1,37,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.6
$GPS2,184832,6301.472,-1306.799,12,1.3,12,-12.1
$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,356.8,25970,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.28,0.000,6,0.000,0.000,73,2600,3416
$GC,81,-1.03,-146.6,6.4,-11.6,3,103,11.95,2.55,0.00,0.000,4,0.185,0.038,2131,1184,3418
$GC,278,-1.03,-146.6,36.0,-8.8,11,284,0.00,2.50,0.00,0.000,6,0.000,0.037,2131,2608,3419
$GC,594,-1.03,-146.6,66.1,-9.8,27,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2608,3419
$GC,903,-1.03,-146.6,92.6,-8.4,42,907,0.00,2.50,0.00,0.000,4,0.000,0.039,2131,1192,3420
$GC,947,-1.03,-146.6,96.3,-8.8,44,951,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2599,3420
$GC,1269,-1.03,-146.6,123.9,-9.0,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3420
$GC,1578,-1.03,-146.6,153.2,-9.5,75,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3421
$GC,1887,-1.03,-146.6,180.2,-8.1,90,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,2196,-1.03,-146.6,205.7,-8.1,105,2200,0.00,2.50,0.00,0.000,4,0.000,0.039,2131,1185,3420
$GC,2240,-1.08,-146.6,209.6,-8.6,107,2245,0.00,2.50,0.00,0.000,6,0.000,0.038,2131,2605,3419
$GC,2562,-1.08,-146.6,237.3,-8.9,123,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,2871,-1.08,-146.6,264.9,-9.1,138,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,3180,-1.08,-146.6,294.0,-9.7,153,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,3489,-1.08,-146.6,324.6,-10.0,168,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,3798,-1.08,-146.6,355.1,-9.7,183,3803,0.00,2.50,0.00,0.000,4,0.000,0.041,2131,1192,3419
$GC,3839,-1.12,-146.6,358.8,-8.9,185,3843,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,4166,-1.12,-146.6,385.7,-7.1,201,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3419
$GC,4475,-1.12,-146.6,411.3,-9.1,216,4479,0.00,2.47,0.00,0.000,4,0.000,0.040,2131,1193,3419
$GC,4515,-1.17,-146.6,415.3,-10.2,218,4520,0.12,2.47,0.00,0.000,6,0.048,0.038,2091,2602,3418
$GC,4844,-1.07,-146.6,460.2,-13.6,234,4846,0.17,0.00,0.00,0.000,6,0.097,0.000,2125,2601,3419
$GC,5150,-1.07,-146.6,490.0,-8.9,249,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3419
$GC,5460,-1.07,-146.6,518.1,-9.6,264,5464,0.00,2.50,0.00,0.000,4,0.000,0.041,2125,1189,3418
$GC,5510,-1.12,-146.6,523.0,-8.9,266,5514,0.00,2.47,0.00,0.000,6,0.000,0.038,2125,2600,3418
$GC,5826,-1.12,-146.6,553.6,-10.1,281,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3418
$GC,6135,-1.12,-146.6,582.7,-10.0,296,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3418
$GC,6444,-1.12,-146.6,613.1,-10.1,311,6448,0.00,2.50,0.00,0.000,4,0.000,0.042,2125,1188,3417
$GC,6507,-1.17,-146.6,619.0,-8.6,314,6511,0.00,2.47,0.00,0.000,6,0.000,0.040,2125,2599,3417
$GC,6839,-1.17,-146.6,646.4,-8.5,330,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2599,3417
$GC,7149,-1.17,-146.6,669.8,-7.0,345,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2599,3417
$GC,7458,-1.17,-146.6,695.5,-9.3,360,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2599,3416
$STATE,7538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7538,begin apogee
$GC,7545,-0.31,0.0,703.4,9.6,364,7681,0.82,0.00,128.57,1.017,6,0.100,0.000,2292,2292,2816
$STATE,7682,end apogee,CONTROL_FINISHED_OK
$STATE,7682,begin climb
$GC,7685,1.03,146.6,706.5,0.0,371,7823,1.33,2.75,129.93,1.006,4,0.064,0.071,2579,3708,2218
$GC,7966,0.85,146.6,694.3,9.2,383,7971,0.17,2.50,0.00,0.000,6,0.097,0.034,2547,2305,2214
$GC,8288,0.82,169.5,670.9,6.7,399,8314,0.00,2.62,20.58,0.936,4,0.000,0.054,2547,897,2125
$GC,8359,0.87,217.2,666.1,5.9,402,8411,0.00,2.53,44.20,0.969,6,0.000,0.039,2547,2309,1931
$GC,8720,0.87,217.2,640.0,8.0,420,8724,0.00,2.65,0.00,0.000,4,0.000,0.071,2547,3709,1924
$GC,8798,0.87,217.2,632.9,9.0,423,8804,0.00,2.50,0.00,0.000,6,0.000,0.033,2547,2296,1924
$GC,9113,0.87,217.2,606.9,7.8,439,9118,0.00,2.55,0.00,0.000,4,0.000,0.054,2547,896,1921
$GC,9215,0.87,217.2,598.8,8.1,443,9221,0.00,2.50,0.00,0.000,6,0.000,0.038,2547,2305,1920
$GC,9531,0.92,217.2,573.2,8.0,459,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2305,1920
$GC,9841,0.97,219.6,550.1,7.4,474,9842,0.10,0.00,0.00,0.000,6,0.058,0.000,2576,2305,1919
$GC,10149,0.97,219.6,523.9,8.4,489,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2305,1920
$GC,10458,0.97,219.6,497.7,8.6,504,10463,0.00,2.53,0.00,0.000,4,0.000,0.046,2576,896,1919
$GC,10514,0.92,219.6,492.6,9.4,506,10521,0.00,2.47,0.00,0.000,6,0.000,0.035,2576,2307,1919
$GC,10830,0.92,219.6,464.6,8.8,522,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2307,1919
$GC,11139,0.92,219.6,439.2,8.0,537,11143,0.00,2.58,0.00,0.000,4,0.000,0.064,2576,3705,1919
$GC,11189,0.85,219.6,434.8,8.9,539,11194,0.15,2.45,0.00,0.000,6,0.095,0.030,2548,2296,1919
$GC,11505,0.93,242.3,413.3,6.7,554,11529,0.00,0.00,21.88,0.798,6,0.000,0.000,2548,2296,1829
$GC,11834,1.01,242.3,388.5,8.1,570,11836,0.15,0.00,0.00,0.000,6,0.048,0.000,2591,2296,1826
$GC,12143,0.96,242.3,357.5,10.3,585,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2296,1827
$GC,12453,0.92,242.3,324.3,10.6,600,12455,0.15,0.00,0.00,0.000,6,0.091,0.000,2561,2295,1826
$GC,12762,0.97,242.3,296.1,9.2,615,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1827
$GC,13071,1.02,242.3,267.7,8.9,630,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2295,1827
$GC,13380,1.07,242.3,241.4,8.3,645,13382,0.15,0.00,0.00,0.000,6,0.044,0.000,2603,2295,1827
$GC,13690,1.00,242.3,212.5,9.5,660,13691,0.12,0.00,0.00,0.000,6,0.095,0.000,2579,2294,1827
$GC,13999,1.00,242.3,186.7,8.4,675,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2295,1827
$GC,14308,1.00,242.3,160.1,8.7,690,14312,0.00,2.60,0.00,0.000,4,0.000,0.060,2579,3706,1827
$GC,14347,1.00,242.3,156.6,9.1,692,14352,0.00,2.42,0.00,0.000,6,0.000,0.030,2579,2298,1827
$GC,14674,1.00,242.3,129.1,8.5,708,14678,0.00,2.50,0.00,0.000,4,0.000,0.048,2579,898,1827
$GC,14714,1.00,242.3,125.5,8.9,710,14718,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2305,1826
$GC,15040,1.00,242.3,97.5,8.4,726,15044,0.00,2.55,0.00,0.000,4,0.000,0.060,2579,3698,1827
$GC,15080,1.00,242.3,94.1,8.4,728,15084,0.00,2.40,0.00,0.000,6,0.000,0.030,2579,2299,1827
$GC,15407,1.02,255.4,71.1,7.1,744,15426,0.00,0.00,12.60,0.561,6,0.000,0.000,2579,2299,1774
$GC,15737,1.02,255.4,43.3,9.4,760,15741,0.00,2.50,0.00,0.000,4,0.000,0.045,2579,894,1772
$GC,15867,1.02,255.4,30.5,10.3,766,15871,0.00,2.45,0.00,0.000,6,0.000,0.034,2579,2300,1771
$STATE,16171,end climb,SURFACE_DEPTH_REACHED
$STATE,16171,begin surface coast
$FINISH,1.1,1.026678
$STATE,16192,end surface coast,CONTROL_FINISHED_OK
$STATE,16192,begin surface
$SM_CCo,16275,0.00,0.000,0,0,1769,257.07
$SM_GC,1.61,11.50,0.00,0.00,0.067,0.000,0.000,69,2609,1769,-10.47,0.28,257.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1723
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.0,37.2
$24V_AH,23.6,19.776
$10V_AH,10.1,9.551
$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,26.900,86.450,357.750,0.000,0.000,36.646,53.269,272.257,6.250,0.000,0.000,12.577,1399.889,12743.400,449.330,1622.298,597.410,0.000,1247.723,0.000,1582.071,0.000,45.941,0.000
$DEVICE_MAMPS,184.847,70.564,1017.042,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.757,541.816,491.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38009,782
$CAP_FILE_SIZE,110924,0
$CFSIZE,260165632,252727296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230609,232107,6305.133,-1305.973,27,1.3,27,-12.1