version: 66.04
glider: 16
mission: 13
dive: 101
start: 6 24 109 4 13 14
data:
$ID,16
$MISSION,13
$DIVE,101
$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,-2109435.2
$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,27
$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
$GPS1,040736,6306.737,-1308.788,42,1.9,42,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.6
$GPS2,041258,6306.776,-1308.895,11,2.9,30,-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,353.6,16058,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-54.97,0.000,6,0.000,0.000,76,2603,3417
$GC,82,-1.03,-146.6,7.7,-14.4,3,104,11.85,2.55,0.00,0.000,4,0.182,0.041,2131,1192,3418
$GC,340,-1.03,-146.6,45.8,-11.0,14,344,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2596,3419
$GC,657,-1.03,-146.6,79.6,-10.9,29,661,0.00,2.35,0.00,0.000,4,0.000,0.066,2131,3866,3419
$GC,712,-1.03,-146.6,86.1,-11.2,31,719,0.00,2.20,0.00,0.000,6,0.000,0.028,2132,2583,3419
$GC,1028,-1.03,-146.6,118.3,-10.4,47,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3420
$GC,1337,-1.03,-146.6,146.9,-9.0,62,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,1647,-1.03,-146.6,175.3,-9.6,77,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3420
$GC,1956,-1.03,-146.6,204.3,-9.5,92,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3420
$GC,2265,-1.03,-146.6,233.5,-9.5,107,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3418
$GC,2574,-1.03,-146.6,261.3,-8.9,122,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3419
$GC,2883,-1.03,-146.6,289.9,-9.6,137,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3419
$GC,3193,-1.03,-146.6,319.4,-9.5,152,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3419
$GC,3503,-1.03,-146.6,352.0,-10.9,167,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2582,3419
$GC,3811,-1.03,-146.6,383.6,-10.0,182,3815,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1206,3419
$GC,3844,-1.08,-146.6,386.9,-9.9,183,3850,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2603,3420
$GC,4160,-1.08,-146.6,415.3,-8.8,199,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3419
$GC,4469,-1.08,-146.6,442.5,-8.7,214,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,4778,-1.08,-146.6,469.6,-8.7,229,4782,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1212,3418
$GC,4818,-1.13,-146.6,472.9,-8.4,231,4823,0.00,2.42,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,5146,-1.13,-146.6,500.1,-8.4,247,5150,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3418
$GC,5179,-1.18,-146.6,503.2,-8.7,248,5186,0.15,2.45,0.00,0.000,6,0.044,0.038,2086,2608,3418
$GC,5495,-1.07,-146.6,540.1,-11.9,264,5497,0.20,0.00,0.00,0.000,6,0.095,0.000,2125,2608,3418
$GC,5804,-1.07,-146.6,567.9,-8.6,279,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3418
$GC,6113,-1.07,-146.6,595.2,-8.3,294,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3418
$GC,6422,-1.07,-146.6,623.2,-10.1,309,6426,0.00,2.47,0.00,0.000,4,0.000,0.042,2125,1208,3418
$GC,6468,-1.12,-146.6,627.8,-10.1,311,6473,0.00,2.45,0.00,0.000,6,0.000,0.039,2125,2600,3418
$GC,6790,-1.12,-146.6,655.6,-8.0,327,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3418
$GC,7099,-1.12,-146.6,682.1,-8.2,342,7103,0.00,2.47,0.00,0.000,4,0.000,0.042,2125,1204,3417
$GC,7138,-1.17,-146.6,685.3,-8.8,344,7143,0.00,2.47,0.00,0.000,6,0.000,0.040,2125,2605,3417
$STATE,7463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7463,begin apogee
$GC,7470,-0.31,0.0,716.5,10.8,360,7605,0.82,0.00,129.25,1.024,6,0.107,0.000,2289,2305,2816
$STATE,7606,end apogee,CONTROL_FINISHED_OK
$STATE,7606,begin climb
$GC,7609,1.03,146.6,723.4,0.0,367,7745,1.38,0.00,130.88,1.014,6,0.076,0.000,2580,2305,2219
$GC,8043,0.94,146.6,703.9,8.1,388,8048,0.00,2.65,0.00,0.000,4,0.000,0.070,2580,3702,2212
$GC,8099,0.81,146.6,699.5,7.8,390,8106,0.22,2.45,0.00,0.000,6,0.097,0.032,2537,2311,2211
$GC,8415,0.87,205.8,680.7,5.5,406,8477,0.00,2.67,53.00,0.988,4,0.000,0.054,2537,905,1976
$GC,8623,0.95,224.0,667.9,6.9,415,8649,0.12,2.50,17.67,0.924,6,0.052,0.038,2573,2308,1903
$GC,8965,0.95,224.0,640.8,7.6,432,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2307,1898
$GC,9274,0.95,224.0,614.3,9.2,447,9278,0.00,2.62,0.00,0.000,4,0.000,0.067,2573,3706,1897
$GC,9340,0.88,224.0,608.0,10.0,450,9345,0.00,2.47,0.00,0.000,6,0.000,0.031,2574,2299,1897
$GC,9662,0.88,224.0,582.4,7.8,466,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2299,1896
$GC,9971,0.88,224.0,557.5,7.7,481,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2299,1895
$GC,10280,0.88,224.0,530.0,9.3,496,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2299,1895
$GC,10590,0.88,224.0,499.2,10.4,511,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2298,1895
$GC,10899,0.88,224.0,469.2,9.2,526,10903,0.00,2.53,0.00,0.000,4,0.000,0.049,2573,891,1894
$GC,10944,0.88,224.0,464.8,9.8,528,10949,0.12,2.47,0.00,0.000,6,0.095,0.035,2550,2306,1893
$GC,11272,0.95,248.1,441.3,6.7,544,11301,0.00,2.70,21.80,0.812,4,0.000,0.061,2550,3705,1805
$GC,11337,0.96,253.5,436.8,7.3,547,11348,0.00,2.47,6.32,0.660,6,0.000,0.029,2550,2293,1783
$GC,11665,1.05,269.9,414.0,6.9,563,11684,0.17,0.00,16.20,0.774,6,0.043,0.000,2594,2293,1716
$GC,11993,1.05,269.9,382.3,9.9,579,11997,0.00,2.50,0.00,0.000,4,0.000,0.048,2595,898,1714
$GC,12039,1.05,269.9,377.6,10.1,581,12043,0.00,2.47,0.00,0.000,6,0.000,0.035,2594,2309,1712
$GC,12365,1.05,269.9,346.4,9.1,597,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2309,1711
$GC,12674,1.01,269.9,318.5,8.9,612,12679,0.00,2.53,0.00,0.000,4,0.000,0.044,2594,897,1711
$GC,12730,1.01,269.9,313.0,10.1,614,12736,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2301,1711
$GC,13046,1.01,269.9,283.3,9.2,630,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2301,1711
$GC,13355,1.01,269.9,255.4,8.6,645,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2301,1711
$GC,13664,1.01,269.9,227.9,9.6,660,13668,0.00,2.50,0.00,0.000,4,0.000,0.044,2595,897,1711
$GC,13703,1.01,269.9,224.1,10.0,662,13708,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2301,1711
$GC,14030,1.01,269.9,190.4,10.7,678,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2303,1711
$GC,14339,1.01,269.9,159.3,9.9,693,14344,0.00,2.50,0.00,0.000,4,0.000,0.044,2595,896,1711
$GC,14389,1.01,269.9,153.9,10.1,695,14394,0.00,2.45,0.00,0.000,6,0.000,0.035,2595,2303,1711
$GC,14705,1.01,269.9,125.3,9.1,710,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2304,1711
$GC,15015,1.01,269.9,96.3,9.9,725,15016,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2304,1711
$GC,15326,1.01,269.9,67.9,8.3,740,15330,0.00,2.50,0.00,0.000,4,0.000,0.044,2594,897,1711
$GC,15376,1.02,280.8,63.9,7.1,742,15391,0.00,2.45,10.25,0.543,6,0.000,0.034,2594,2305,1671
$GC,15720,1.04,290.3,40.6,7.2,759,15735,0.00,2.55,9.82,0.525,4,0.000,0.043,2594,891,1632
$GC,15897,1.04,290.3,26.0,9.0,766,15901,0.00,2.45,0.00,0.000,6,0.000,0.034,2594,2301,1629
$STATE,16160,end climb,SURFACE_DEPTH_REACHED
$STATE,16160,begin surface coast
$FINISH,0.6,1.013972
$STATE,16183,end surface coast,CONTROL_FINISHED_OK
$STATE,16183,begin surface
$SM_CCo,16267,0.00,0.000,0,0,1626,292.15
$SM_GC,1.78,12.10,0.00,0.00,0.091,0.000,0.000,74,2609,1626,-10.47,0.25,292.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1738
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.8,24.4
$24V_AH,23.6,20.026
$10V_AH,10.1,9.702
$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,27.150,90.475,395.200,0.000,0.000,17.945,28.049,145.498,6.250,0.000,0.000,31.534,1389.725,12636.875,474.098,1660.833,425.523,0.000,1293.635,0.000,1600.683,0.000,44.328,0.000
$DEVICE_MAMPS,181.779,69.797,1023.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.606,532.439,472.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38014,780
$CAP_FILE_SIZE,106887,0
$CFSIZE,260165632,252620800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240609,084537,6309.451,-1310.312,40,0.8,40,-12.2