version: 66.04
glider: 16
mission: 13
dive: 106
start: 6 25 109 3 27 43
data:
$ID,16
$MISSION,13
$DIVE,106
$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,-2109509.8
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,032230,6319.737,-1311.750,40,1.8,40,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.1
$GPS2,032726,6319.729,-1311.966,13,2.0,13,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-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,7.2,28391,-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,18,-1.03,-146.6,0.0,0.0,0,81,0.00,0.00,-61.15,0.000,2,0.000,0.000,67,2600,3222
$GC,84,-1.03,-146.6,4.6,-7.7,3,106,11.95,2.33,-3.42,0.000,4,0.185,0.078,2129,3858,3415
$GC,245,-0.97,-146.6,30.7,-11.9,10,249,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2578,3416
$GC,574,-0.97,-146.6,68.1,-11.5,26,578,0.00,2.38,0.00,0.000,4,0.000,0.064,2129,3858,3416
$GC,623,-0.97,-146.6,74.6,-12.2,28,627,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2589,3416
$GC,945,-0.97,-146.6,109.7,-9.9,44,949,0.00,2.42,0.00,0.000,4,0.000,0.041,2129,1214,3416
$GC,989,-0.97,-146.6,113.9,-8.7,46,993,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3416
$GC,1310,-0.97,-146.6,145.1,-9.6,62,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3416
$GC,1620,-0.97,-146.6,177.2,-11.2,77,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,1928,-0.97,-146.6,210.7,-11.9,92,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,2237,-0.97,-146.6,243.9,-10.5,107,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,2547,-0.97,-146.6,273.4,-8.8,122,2551,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3416
$GC,2590,-0.97,-146.6,277.1,-8.2,124,2594,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2602,3416
$GC,2911,-0.97,-146.6,306.3,-9.4,140,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3415
$GC,3220,-0.97,-146.6,336.2,-10.4,155,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3416
$GC,3529,-0.97,-146.6,368.1,-10.5,170,3533,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1214,3416
$GC,3586,-1.02,-146.6,373.7,-10.5,172,3592,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2605,3416
$GC,3901,-1.02,-146.6,403.3,-9.2,188,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3416
$GC,4211,-1.02,-146.6,431.3,-9.3,203,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3416
$GC,4520,-1.02,-146.6,461.0,-9.8,218,4524,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1214,3416
$GC,4570,-1.02,-146.6,466.0,-9.1,220,4574,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2608,3416
$GC,4886,-1.02,-146.6,497.5,-10.1,235,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3416
$GC,5196,-1.02,-146.6,526.6,-8.9,250,5200,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3416
$GC,5240,-1.07,-146.6,530.6,-8.6,252,5245,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2605,3416
$GC,5561,-1.07,-146.6,556.7,-7.6,268,5565,0.00,2.35,0.00,0.000,4,0.000,0.072,2129,3864,3416
$GC,5596,-1.07,-146.6,559.6,-8.1,269,5602,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2591,3416
$GC,5912,-1.07,-146.6,583.1,-7.2,285,5916,0.00,2.42,0.00,0.000,4,0.000,0.044,2129,1215,3416
$GC,5962,-1.12,-146.6,586.8,-6.8,287,5966,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2609,3416
$GC,6283,-1.12,-146.6,612.6,-8.7,303,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3416
$GC,6592,-1.12,-146.6,646.9,-11.1,318,6596,0.00,2.47,0.00,0.000,4,0.000,0.042,2128,1208,3416
$GC,6636,-1.19,-146.6,650.9,-9.2,320,6641,0.12,2.45,0.00,0.000,6,0.048,0.039,2090,2599,3416
$GC,6960,-1.10,-146.6,679.6,-9.4,336,6965,0.15,2.45,0.00,0.000,4,0.098,0.042,2119,1213,3416
$GC,7000,-1.10,-146.6,683.5,-9.2,338,7004,0.00,2.45,0.00,0.000,6,0.000,0.041,2119,2599,3415
$GC,7326,-1.10,-146.6,714.7,-9.1,354,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2599,3415
$STATE,7591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7592,begin apogee
$GC,7599,-0.31,0.0,735.3,8.0,367,7734,0.85,0.00,129.35,1.034,6,0.100,0.000,2291,2301,2816
$STATE,7735,end apogee,CONTROL_FINISHED_OK
$STATE,7735,begin climb
$GC,7738,1.03,146.6,739.7,0.0,374,7876,1.38,0.00,131.35,1.025,6,0.070,0.000,2582,2301,2217
$GC,8187,0.93,146.9,718.2,7.5,396,8192,0.00,2.65,0.00,0.000,4,0.000,0.067,2581,3701,2211
$GC,8255,0.77,146.9,712.2,8.8,399,8260,0.28,2.45,0.00,0.000,6,0.099,0.032,2529,2311,2211
$GC,8576,0.83,205.6,692.0,5.5,415,8638,0.00,2.70,52.70,0.989,4,0.000,0.053,2529,895,1975
$GC,8702,0.97,259.5,685.4,5.7,420,8759,0.20,2.50,50.85,0.980,6,0.048,0.038,2578,2301,1757
$GC,9075,1.05,329.0,665.3,5.1,439,9142,0.00,0.00,64.40,0.980,6,0.000,0.000,2578,2301,1474
$GC,9449,1.10,329.0,633.5,10.2,457,9454,0.00,2.55,0.00,0.000,4,0.000,0.050,2578,899,1465
$GC,9517,1.15,329.0,626.0,10.8,460,9522,0.15,2.50,0.00,0.000,6,0.066,0.037,2614,2311,1464
$GC,9839,1.11,329.0,584.8,13.6,476,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2311,1463
$GC,10148,1.07,329.0,539.4,15.3,491,10153,0.12,2.55,0.00,0.000,4,0.105,0.048,2592,898,1462
$GC,10192,1.07,329.0,533.2,13.1,493,10196,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2308,1461
$GC,10519,1.07,329.0,494.2,11.4,509,10523,0.00,2.55,0.00,0.000,4,0.000,0.048,2592,896,1461
$GC,10574,1.07,329.0,487.5,12.3,511,10580,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2306,1461
$GC,10890,1.07,329.0,451.0,11.0,527,10894,0.00,2.55,0.00,0.000,4,0.000,0.046,2592,892,1461
$GC,10939,1.07,329.0,445.8,10.4,529,10944,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2303,1460
$GC,11255,1.07,329.0,415.8,9.1,544,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2304,1460
$GC,11564,1.07,329.0,387.1,8.8,559,11568,0.00,2.53,0.00,0.000,4,0.000,0.046,2592,894,1460
$GC,11632,1.07,329.0,380.7,9.7,562,11636,0.00,2.45,0.00,0.000,6,0.000,0.035,2592,2301,1461
$GC,11958,1.07,329.0,349.7,10.2,578,11963,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,891,1460
$GC,11993,1.07,329.0,345.9,10.8,579,11999,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2306,1461
$GC,12309,1.07,329.0,308.3,12.2,595,12313,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,897,1460
$GC,12358,1.07,329.0,302.1,12.6,597,12363,0.00,2.45,0.00,0.000,6,0.000,0.035,2592,2302,1460
$GC,12674,1.07,329.0,265.9,10.8,612,12678,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,888,1460
$GC,12713,1.07,329.0,261.6,11.3,613,12719,0.00,2.47,0.00,0.000,6,0.000,0.035,2592,2304,1461
$GC,13029,1.07,329.0,230.8,9.4,629,13033,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,892,1461
$GC,13076,1.11,329.0,226.4,9.7,631,13080,0.00,2.45,0.00,0.000,6,0.000,0.035,2592,2301,1461
$GC,13402,1.11,329.0,195.6,8.9,647,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2301,1461
$GC,13712,1.11,329.0,165.8,9.9,662,13716,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,891,1461
$GC,13784,1.16,329.0,158.0,11.0,665,13789,0.00,2.45,0.00,0.000,6,0.000,0.035,2592,2301,1461
$GC,14102,1.16,329.0,125.0,9.0,680,14106,0.00,2.53,0.00,0.000,4,0.000,0.046,2592,892,1461
$GC,14169,1.21,329.0,119.5,7.7,683,14174,0.15,2.45,0.00,0.000,6,0.051,0.035,2633,2301,1461
$GC,14491,1.12,329.0,95.6,9.7,699,14492,0.15,0.00,0.00,0.000,6,0.096,0.000,2605,2301,1461
$GC,14801,1.14,345.4,72.0,6.9,714,14823,0.00,2.58,12.95,0.562,4,0.000,0.045,2605,895,1407
$GC,14869,1.14,345.4,66.0,8.8,717,14874,0.00,2.47,0.00,0.000,6,0.000,0.035,2605,2308,1406
$GC,15197,1.15,354.1,39.3,7.2,733,15211,0.00,2.55,8.88,0.515,4,0.000,0.044,2605,894,1372
$GC,15274,1.20,354.1,32.7,9.6,736,15278,0.00,2.47,0.00,0.000,6,0.000,0.033,2605,2309,1370
$STATE,15566,end climb,SURFACE_DEPTH_REACHED
$STATE,15566,begin surface coast
$FINISH,0.8,1.026690
$STATE,15590,end surface coast,CONTROL_FINISHED_OK
$STATE,15590,begin surface
$SM_CCo,15673,0.00,0.000,0,0,1368,355.44
$SM_GC,1.52,12.32,0.00,0.00,0.098,0.000,0.000,79,2603,1368,-10.46,0.08,355.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1727
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.7,68.8
$24V_AH,23.6,20.668
$10V_AH,10.1,10.062
$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,27.825,129.075,450.475,0.000,0.000,18.254,26.471,138.928,6.000,0.000,0.000,13.519,1375.604,11969.454,542.492,1644.255,437.214,0.000,1391.598,0.000,1604.117,0.000,42.851,0.000
$DEVICE_MAMPS,184.847,78.234,1033.916,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.882,514.541,462.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37943,751
$CAP_FILE_SIZE,113026,0
$CFSIZE,260165632,252350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250609,075006,6321.342,-1314.681,34,1.0,34,-12.3