version: 66.04
glider: 16
mission: 13
dive: 107
start: 6 25 109 7 55 19
data:
$ID,16
$MISSION,13
$DIVE,107
$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,-2109524.8
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,075006,6321.342,-1314.681,34,1.0,34,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-60.7
$GPS2,075502,6321.381,-1314.712,14,1.1,14,-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,11.8,25224,-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,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,91,0.00,0.00,-71.22,0.000,6,0.000,0.000,78,2605,3417
$GC,94,-1.03,-146.6,4.0,-6.0,3,116,12.05,2.35,0.00,0.000,4,0.189,0.060,2132,3858,3418
$GC,234,-1.03,-146.6,36.9,-14.4,9,238,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2581,3418
$GC,555,-1.03,-146.6,87.1,-15.6,25,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2579,3419
$GC,864,-1.03,-146.6,130.4,-14.8,40,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,1173,-1.03,-146.6,172.2,-12.4,55,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,1482,-1.03,-146.6,209.1,-11.8,70,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3419
$GC,1791,-1.03,-146.6,246.4,-12.2,85,1796,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1208,3419
$GC,1842,-1.03,-146.6,252.8,-12.6,87,1846,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2598,3419
$GC,2157,-1.03,-146.6,291.6,-12.0,102,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2466,-1.03,-146.6,328.9,-12.4,117,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2776,-1.03,-146.6,366.6,-11.6,132,2780,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1202,3419
$GC,2815,-1.08,-146.6,371.1,-10.5,133,2821,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2608,3418
$GC,3130,-1.08,-146.6,402.0,-8.8,149,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,3441,-1.08,-146.6,426.4,-7.4,164,3445,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1204,3418
$GC,3486,-1.13,-146.6,429.9,-7.1,166,3491,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2605,3418
$GC,3808,-1.13,-146.6,452.1,-6.7,182,3812,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1209,3418
$GC,3849,-1.18,-146.6,454.5,-6.6,184,3853,0.15,2.45,0.00,0.000,6,0.044,0.038,2087,2602,3418
$GC,4178,-1.06,-146.6,479.9,-7.2,200,4182,0.20,2.35,0.00,0.000,4,0.095,0.071,2128,3862,3418
$GC,4222,-1.06,-146.6,482.6,-5.1,202,4226,0.00,2.15,0.00,0.000,6,0.000,0.029,2128,2592,3418
$GC,4549,-1.06,-146.6,497.6,-5.2,218,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3418
$GC,4858,-1.06,-146.6,512.0,-4.5,233,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,5168,-1.06,-146.6,526.4,-6.6,248,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,5476,-1.06,-146.6,567.1,-16.4,263,5480,0.00,2.42,0.00,0.000,4,0.000,0.044,2128,1208,3417
$GC,5516,-1.11,-146.6,573.7,-15.7,264,5522,0.00,2.45,0.00,0.000,6,0.000,0.038,2128,2600,3417
$GC,5831,-1.11,-146.6,618.1,-12.8,280,5836,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1209,3417
$GC,5872,-1.16,-146.6,622.9,-12.2,282,5876,0.00,2.45,0.00,0.000,6,0.000,0.039,2128,2601,3417
$GC,6199,-1.16,-146.6,655.1,-8.2,298,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3417
$GC,6508,-1.16,-146.6,684.8,-9.6,313,6512,0.00,2.45,0.00,0.000,4,0.000,0.042,2128,1209,3416
$GC,6558,-1.22,-146.6,690.0,-10.2,315,6563,0.17,2.45,0.00,0.000,6,0.043,0.040,2078,2599,3416
$GC,6876,-1.11,-146.6,725.7,-10.2,330,6878,0.20,0.00,0.00,0.000,6,0.098,0.000,2116,2599,3416
$STATE,7139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7139,begin apogee
$GC,7146,-0.31,0.0,746.5,8.2,343,7282,0.85,0.00,129.50,1.045,6,0.095,0.000,2290,2297,2817
$STATE,7282,end apogee,CONTROL_FINISHED_OK
$STATE,7282,begin climb
$GC,7285,1.03,146.6,750.7,0.0,350,7424,1.35,2.60,130.45,1.032,4,0.065,0.050,2583,905,2218
$GC,7601,1.01,257.2,732.8,3.7,363,7710,0.00,2.50,98.95,1.018,6,0.000,0.039,2582,2304,1767
$GC,8019,1.01,257.2,694.4,11.9,384,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2304,1758
$GC,8328,1.01,257.2,664.5,7.7,399,8332,0.00,2.65,0.00,0.000,4,0.000,0.068,2582,3707,1758
$GC,8401,0.95,257.2,658.5,8.8,402,8405,0.00,2.45,0.00,0.000,6,0.000,0.032,2581,2313,1757
$GC,8716,1.01,307.0,638.8,5.8,417,8767,0.00,2.65,45.35,0.963,4,0.000,0.052,2582,898,1564
$GC,8802,1.07,328.2,633.2,6.8,421,8828,0.00,2.53,20.73,0.917,6,0.000,0.038,2582,2311,1479
$GC,9143,1.07,328.2,601.8,10.1,438,9148,0.00,2.58,0.00,0.000,4,0.000,0.049,2583,894,1473
$GC,9221,1.07,328.2,593.6,9.9,441,9227,0.00,2.50,0.00,0.000,6,0.000,0.036,2582,2308,1471
$GC,9538,1.11,328.2,560.1,11.5,457,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1471
$GC,9847,1.16,328.2,525.7,11.3,472,9851,0.12,2.55,0.00,0.000,4,0.054,0.048,2621,896,1470
$GC,9880,1.09,328.2,521.6,13.2,473,9887,0.12,2.47,0.00,0.000,6,0.095,0.035,2598,2306,1469
$GC,10195,1.09,328.2,489.8,9.2,489,10200,0.00,2.55,0.00,0.000,4,0.000,0.047,2598,894,1469
$GC,10262,1.09,328.2,483.8,8.9,492,10267,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2303,1469
$GC,10583,1.09,328.2,457.0,8.3,508,10588,0.00,2.53,0.00,0.000,4,0.000,0.047,2598,898,1469
$GC,10651,1.09,328.2,451.3,8.6,511,10655,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2309,1468
$GC,10972,1.09,328.2,423.1,9.0,527,10976,0.00,2.55,0.00,0.000,4,0.000,0.046,2598,891,1469
$GC,11015,1.09,328.2,418.7,9.3,529,11020,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2305,1468
$GC,11337,1.09,328.2,387.4,10.0,545,11341,0.00,2.53,0.00,0.000,4,0.000,0.046,2598,898,1469
$GC,11392,1.09,328.2,381.4,11.2,547,11398,0.00,2.45,0.00,0.000,6,0.000,0.035,2598,2300,1468
$GC,11708,1.09,328.2,348.5,11.0,563,11711,0.00,2.50,0.00,0.000,4,0.000,0.046,2598,897,1468
$GC,11746,1.09,328.2,343.9,11.4,564,11752,0.00,2.45,0.00,0.000,6,0.000,0.035,2598,2299,1468
$GC,12062,1.09,328.2,305.7,12.7,580,12066,0.00,2.50,0.00,0.000,4,0.000,0.046,2598,895,1468
$GC,12100,1.09,328.2,300.6,12.2,581,12107,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2309,1468
$GC,12416,1.09,328.2,261.9,12.2,597,12421,0.00,2.53,0.00,0.000,4,0.000,0.046,2598,897,1468
$GC,12472,1.09,328.2,254.8,12.5,599,12479,0.00,2.45,0.00,0.000,6,0.000,0.035,2598,2301,1468
$GC,12788,1.09,328.2,218.2,10.8,615,12791,0.00,2.50,0.00,0.000,4,0.000,0.046,2598,897,1469
$GC,12833,1.09,328.2,213.2,10.5,617,12837,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2310,1468
$GC,13160,1.09,328.2,180.3,10.6,633,13164,0.00,2.55,0.00,0.000,4,0.000,0.046,2598,890,1468
$GC,13209,1.09,328.2,174.7,10.9,635,13213,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2306,1468
$GC,13525,1.09,328.2,142.0,10.4,650,13530,0.00,2.53,0.00,0.000,4,0.000,0.044,2598,894,1468
$GC,13593,1.14,328.2,133.6,12.0,653,13597,0.00,2.45,0.00,0.000,6,0.000,0.035,2598,2301,1468
$GC,13914,1.14,328.2,100.0,10.5,669,13918,0.00,2.53,0.00,0.000,4,0.000,0.045,2598,889,1469
$GC,13947,1.14,328.2,96.6,9.3,670,13953,0.00,2.47,0.00,0.000,6,0.000,0.035,2598,2309,1468
$GC,14264,1.14,328.2,63.3,10.7,686,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2309,1469
$GC,14572,1.14,328.2,31.9,9.9,701,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2309,1469
$STATE,14879,end climb,SURFACE_DEPTH_REACHED
$STATE,14879,begin surface coast
$FINISH,0.7,1.026696
$STATE,14901,end surface coast,CONTROL_FINISHED_OK
$STATE,14901,begin surface
$SM_CCo,14985,0.00,0.000,0,0,1466,331.15
$SM_GC,1.61,12.18,0.00,0.00,0.095,0.000,0.000,68,2601,1466,-10.46,0.03,331.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1728
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.4,52.7
$24V_AH,23.6,20.801
$10V_AH,10.1,10.130
$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,27.400,124.675,424.975,0.000,0.000,17.976,31.984,133.719,6.000,0.000,0.000,14.317,1306.578,11447.135,518.121,1588.280,420.564,0.000,1345.147,0.000,1545.437,0.000,41.479,0.000
$DEVICE_MAMPS,189.449,70.564,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.573,490.710,408.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37968,717
$CAP_FILE_SIZE,108561,0
$CFSIZE,260165632,252297216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250609,120624,6325.009,-1311.977,26,1.2,44,-12.3