version: 66.04
glider: 16
mission: 13
dive: 100
start: 6 23 109 23 39 26
data:
$ID,16
$MISSION,13
$DIVE,100
$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,-2109403
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,232107,6305.133,-1305.973,27,1.3,27,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.3
$GPS2,233907,6304.993,-1306.039,10,1.3,15,-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,350.1,19982,-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,-55.58,0.000,6,0.000,0.000,69,2610,3417
$GC,80,-1.03,-146.6,7.5,-14.2,3,102,12.05,2.55,0.00,0.000,4,0.187,0.038,2132,1195,3418
$GC,298,-1.03,-146.6,44.6,-9.9,12,305,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2596,3419
$GC,616,-1.03,-146.6,75.8,-9.1,28,620,0.00,2.47,0.00,0.000,4,0.000,0.038,2132,1194,3420
$GC,656,-1.03,-146.6,79.3,-8.4,30,660,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2597,3420
$GC,982,-1.03,-146.6,106.5,-8.4,46,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3420
$GC,1291,-1.03,-146.6,134.6,-9.3,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3420
$GC,1601,-1.03,-146.6,162.4,-8.8,76,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3420
$GC,1910,-1.03,-146.6,187.0,-7.7,91,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3420
$GC,2219,-1.03,-146.6,211.8,-8.3,106,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3419
$GC,2529,-1.03,-146.6,237.3,-8.2,121,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3419
$GC,2838,-1.03,-146.6,264.3,-9.3,136,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2598,3418
$GC,3147,-1.03,-146.6,293.6,-9.1,151,3151,0.00,2.47,0.00,0.000,4,0.000,0.039,2133,1194,3419
$GC,3188,-1.08,-146.6,297.2,-9.0,153,3192,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2604,3418
$GC,3516,-1.08,-146.6,325.8,-8.1,169,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2605,3419
$GC,3824,-1.08,-146.6,350.7,-8.4,184,3828,0.00,2.50,0.00,0.000,4,0.000,0.041,2131,1188,3419
$GC,3868,-1.13,-146.6,354.7,-8.9,186,3873,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2599,3419
$GC,4189,-1.13,-146.6,385.0,-10.2,202,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,4499,-1.13,-146.6,416.9,-10.2,217,4503,0.00,2.47,0.00,0.000,4,0.000,0.040,2132,1195,3418
$GC,4532,-1.18,-146.6,420.4,-10.1,218,4539,0.15,2.47,0.00,0.000,6,0.044,0.038,2087,2604,3418
$GC,4848,-1.07,-146.6,456.9,-11.1,234,4850,0.20,0.00,0.00,0.000,6,0.095,0.000,2125,2604,3418
$GC,5157,-1.07,-146.6,484.4,-8.5,249,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3417
$GC,5466,-1.07,-146.6,510.9,-8.8,264,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2605,3418
$GC,5775,-1.07,-146.6,538.6,-9.3,279,5779,0.00,2.47,0.00,0.000,4,0.000,0.041,2125,1196,3417
$GC,5808,-1.11,-146.6,541.7,-9.2,280,5815,0.00,2.47,0.00,0.000,6,0.000,0.038,2125,2609,3417
$GC,6124,-1.11,-146.6,570.2,-8.6,296,6128,0.00,2.50,0.00,0.000,4,0.000,0.041,2125,1191,3417
$GC,6164,-1.16,-146.6,573.9,-8.7,298,6169,0.00,2.47,0.00,0.000,6,0.000,0.038,2125,2600,3417
$GC,6491,-1.16,-146.6,602.5,-9.3,314,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3417
$GC,6800,-1.16,-146.6,629.9,-8.8,329,6805,0.00,2.50,0.00,0.000,4,0.000,0.042,2126,1188,3416
$GC,6834,-1.21,-146.6,632.9,-9.1,330,6841,0.15,2.50,0.00,0.000,6,0.048,0.040,2080,2608,3417
$GC,7151,-1.10,-146.6,666.8,-11.5,346,7155,0.17,2.50,0.00,0.000,4,0.100,0.043,2117,1196,3416
$GC,7217,-1.10,-146.6,673.7,-9.9,349,7221,0.00,2.47,0.00,0.000,6,0.000,0.041,2117,2598,3416
$STATE,7269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7269,begin apogee
$GC,7276,-0.31,0.0,678.5,9.2,352,7410,0.93,0.00,127.95,1.002,6,0.134,0.000,2291,2287,2816
$STATE,7411,end apogee,CONTROL_FINISHED_OK
$STATE,7411,begin climb
$GC,7413,1.03,146.6,684.6,0.0,359,7551,1.38,2.60,128.93,0.989,4,0.078,0.048,2581,908,2218
$GC,7763,0.95,155.7,666.8,7.2,375,7777,0.00,2.50,8.43,0.813,6,0.000,0.039,2581,2308,2182
$GC,8095,0.91,175.8,643.6,6.8,391,8120,0.12,2.60,19.10,0.913,4,0.096,0.048,2557,909,2099
$GC,8177,0.87,185.8,637.3,7.2,394,8192,0.00,2.50,10.12,0.837,6,0.000,0.038,2557,2309,2060
$GC,8508,0.87,185.8,612.9,7.8,411,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2309,2057
$GC,8818,0.87,185.8,588.6,7.8,426,8822,0.00,2.55,0.00,0.000,4,0.000,0.048,2557,904,2055
$GC,8862,0.87,185.8,584.9,8.4,428,8866,0.00,2.47,0.00,0.000,6,0.000,0.038,2557,2302,2054
$GC,9182,0.89,205.5,562.5,6.8,444,9207,0.00,2.72,18.35,0.881,4,0.000,0.067,2557,3701,1978
$GC,9265,0.84,205.5,556.2,8.6,447,9271,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,2309,1978
$GC,9580,0.84,205.5,531.2,7.8,463,9584,0.00,2.55,0.00,0.000,4,0.000,0.050,2557,896,1976
$GC,9629,0.84,205.5,527.1,8.3,465,9634,0.00,2.47,0.00,0.000,6,0.000,0.035,2557,2302,1974
$GC,9945,0.84,205.5,499.0,9.1,480,9950,0.00,2.60,0.00,0.000,4,0.000,0.065,2557,3700,1974
$GC,10023,0.84,205.5,491.4,9.3,483,10029,0.00,2.45,0.00,0.000,6,0.000,0.030,2557,2294,1974
$GC,10339,0.84,205.5,463.9,8.4,499,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2294,1974
$GC,10649,0.85,210.0,440.2,7.3,514,10656,0.00,0.00,5.18,0.627,6,0.000,0.000,2557,2294,1959
$GC,10957,0.85,210.0,417.0,7.6,529,10962,0.00,2.60,0.00,0.000,4,0.000,0.062,2557,3701,1959
$GC,10999,0.85,210.0,413.8,8.6,531,11003,0.00,2.42,0.00,0.000,6,0.000,0.030,2557,2299,1960
$GC,11326,0.86,219.4,389.7,7.2,547,11338,0.00,0.00,10.30,0.722,6,0.000,0.000,2557,2299,1922
$GC,11634,0.87,232.0,368.2,7.1,562,11656,0.00,2.65,12.50,0.728,4,0.000,0.061,2557,3698,1871
$GC,11695,0.87,232.0,363.2,8.4,564,11701,0.00,2.45,0.00,0.000,6,0.000,0.030,2557,2298,1870
$GC,12011,0.92,232.0,337.9,8.3,580,12015,0.00,2.50,0.00,0.000,4,0.000,0.047,2557,895,1869
$GC,12066,0.92,232.0,332.7,8.3,582,12071,0.00,2.45,0.00,0.000,6,0.000,0.034,2557,2302,1868
$GC,12382,0.97,232.0,305.7,8.4,597,12387,0.00,2.58,0.00,0.000,4,0.000,0.060,2557,3701,1868
$GC,12423,0.97,232.0,302.0,8.7,599,12427,0.00,2.42,0.00,0.000,6,0.000,0.029,2557,2295,1869
$GC,12749,1.02,232.0,273.9,8.6,615,12751,0.12,0.00,0.00,0.000,6,0.048,0.000,2595,2294,1869
$GC,13059,0.96,232.0,242.0,10.7,630,13060,0.12,0.00,0.00,0.000,6,0.094,0.000,2572,2294,1869
$GC,13367,0.96,232.0,213.6,8.8,645,13371,0.00,2.58,0.00,0.000,4,0.000,0.059,2572,3699,1869
$GC,13411,0.96,232.0,209.3,9.7,647,13415,0.00,2.42,0.00,0.000,6,0.000,0.029,2572,2299,1869
$GC,13732,0.96,232.0,181.9,8.4,663,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2299,1869
$GC,14041,0.96,232.0,155.3,8.8,678,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2299,1869
$GC,14351,0.96,232.0,128.2,8.7,693,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2299,1869
$GC,14660,0.96,232.0,103.7,7.6,708,14664,0.00,2.55,0.00,0.000,4,0.000,0.058,2572,3700,1869
$GC,14726,0.96,232.0,98.1,8.2,711,14731,0.00,2.42,0.00,0.000,6,0.000,0.029,2572,2295,1869
$GC,15048,0.96,232.0,72.9,7.6,727,15049,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2295,1869
$GC,15359,0.96,232.0,47.6,8.2,742,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2295,1869
$GC,15666,0.96,232.0,23.3,7.9,757,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2295,1869
$STATE,15953,end climb,SURFACE_DEPTH_REACHED
$STATE,15953,begin surface coast
$FINISH,0.6,1.015978
$STATE,15974,end surface coast,CONTROL_FINISHED_OK
$STATE,15974,begin surface
$SM_CCo,15997,10.80,0.514,0,0,1796,250.21
$SM_GC,2.75,0.00,0.00,10.80,0.000,0.000,0.514,76,2603,1796,-10.51,0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1726
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.7,10.3
$24V_AH,23.6,19.908
$10V_AH,10.1,9.629
$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,27.275,106.300,340.850,10.800,0.000,90.539,203.452,403.814,6.000,0.000,0.000,15.214,1396.744,12629.785,457.696,1640.103,968.505,0.000,1272.408,0.000,1601.899,0.000,43.426,0.000
$DEVICE_MAMPS,187.148,66.729,1002.469,513.890,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.631,531.511,489.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38100,772
$CAP_FILE_SIZE,119591,0
$CFSIZE,260165632,252665856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240609,040736,6306.737,-1308.788,42,1.9,42,-12.1