version: 66.04
glider: 16
mission: 13
dive: 115
start: 6 26 109 20 45 31
data:
$ID,16
$MISSION,13
$DIVE,115
$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,-2109670.5
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,203737,6340.905,-1313.271,39,1.1,39,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.8
$GPS2,204513,6340.951,-1313.439,12,1.1,17,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$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,21.9,16993,-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,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,72,0.00,0.00,-54.15,0.000,6,0.000,0.000,81,2600,3415
$GC,75,-1.03,-146.6,3.7,-8.5,2,96,12.05,2.35,0.00,0.000,4,0.190,0.061,2131,3856,3418
$GC,226,-0.99,-146.6,33.1,-9.5,8,233,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2579,3418
$GC,542,-0.99,-146.6,62.6,-9.3,24,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2579,3419
$GC,851,-0.99,-146.6,91.8,-9.1,39,856,0.00,2.35,0.00,0.000,4,0.000,0.062,2131,3854,3419
$GC,918,-0.99,-146.6,98.4,-9.5,42,922,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2600,3419
$GC,1245,-0.99,-146.6,125.9,-8.4,58,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,1556,-0.99,-146.6,150.8,-8.3,73,1560,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3419
$GC,1596,-1.03,-146.6,154.2,-8.5,75,1600,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2595,3419
$GC,1922,-1.03,-146.6,181.6,-8.5,91,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3419
$GC,2232,-1.03,-146.6,207.8,-8.5,106,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2595,3419
$GC,2541,-1.03,-146.6,233.6,-8.5,121,2545,0.00,2.42,0.00,0.000,4,0.000,0.039,2131,1212,3419
$GC,2568,-1.03,-146.6,236.0,-8.0,122,2572,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2602,3419
$GC,2889,-1.03,-146.6,263.3,-8.5,138,2893,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1209,3419
$GC,2922,-1.03,-146.6,266.4,-8.8,139,2928,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2607,3419
$GC,3237,-1.03,-146.6,295.8,-9.9,155,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,3549,-1.03,-146.6,326.2,-9.7,170,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,3856,-1.03,-146.6,355.2,-9.3,185,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2607,3419
$GC,4165,-1.03,-146.6,383.5,-9.0,200,4169,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1212,3419
$GC,4215,-1.07,-146.6,388.0,-8.7,202,4219,0.00,2.42,0.00,0.000,6,0.000,0.036,2131,2604,3419
$GC,4535,-1.07,-146.6,418.7,-10.1,218,4540,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1213,3419
$GC,4569,-1.07,-146.6,422.0,-9.4,219,4575,0.00,2.42,0.00,0.000,6,0.000,0.037,2131,2600,3418
$GC,4885,-1.07,-146.6,451.6,-9.3,235,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,5193,-1.07,-146.6,479.8,-9.1,250,5198,0.00,2.45,0.00,0.000,4,0.000,0.039,2131,1205,3418
$GC,5238,-1.13,-146.6,484.1,-9.6,252,5242,0.00,2.45,0.00,0.000,6,0.000,0.037,2131,2602,3418
$GC,5559,-1.13,-146.6,513.6,-9.3,268,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,5868,-1.13,-146.6,543.5,-10.4,283,5872,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1208,3419
$GC,5901,-1.17,-146.6,547.0,-10.8,284,5907,0.12,2.45,0.00,0.000,6,0.047,0.037,2091,2606,3418
$GC,6217,-1.08,-146.6,586.3,-12.6,300,6219,0.17,0.00,0.00,0.000,6,0.100,0.000,2125,2607,3418
$GC,6526,-1.08,-146.6,621.6,-11.2,315,6529,0.00,2.45,0.00,0.000,4,0.000,0.040,2125,1211,3418
$GC,6561,-1.08,-146.6,625.3,-11.1,316,6565,0.00,2.45,0.00,0.000,6,0.000,0.038,2125,2608,3418
$GC,6877,-1.08,-146.6,658.8,-10.7,331,6881,0.00,2.45,0.00,0.000,4,0.000,0.039,2125,1212,3418
$GC,6955,-1.08,-146.6,666.1,-8.8,334,6961,0.00,2.45,0.00,0.000,6,0.000,0.038,2125,2608,3418
$GC,7271,-1.08,-146.6,692.5,-7.2,350,7275,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1214,3418
$GC,7329,-1.12,-146.6,696.1,-5.9,352,7335,0.00,2.42,0.00,0.000,6,0.000,0.038,2125,2599,3418
$GC,7644,-1.12,-146.6,715.3,-6.1,368,7649,0.00,2.35,0.00,0.000,4,0.000,0.074,2125,3857,3417
$GC,7695,-1.12,-146.6,718.5,-6.0,370,7699,0.00,2.12,0.00,0.000,6,0.000,0.030,2125,2608,3417
$GC,8017,-1.12,-146.6,739.3,-6.7,386,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2605,3417
$GC,8326,-1.12,-146.6,764.1,-8.6,401,8330,0.00,2.47,0.00,0.000,4,0.000,0.044,2125,1205,3417
$GC,8434,-1.20,-146.6,773.5,-7.4,406,8439,0.12,2.47,0.00,0.000,6,0.049,0.041,2087,2606,3416
$GC,8763,-1.60,-146.6,780.3,-0.1,422,8768,0.32,2.38,0.00,0.000,4,0.052,0.078,2007,3861,3416
$STATE,8794,end dive,NO_VERTICAL_VELOCITY
$STATE,8794,begin apogee
$GC,8803,-0.31,0.0,780.3,0.0,423,8937,1.30,0.00,130.07,1.074,6,0.071,0.000,2292,2305,2817
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8941,1.03,146.6,780.1,0.0,430,9080,1.35,2.62,131.50,1.054,4,0.067,0.052,2581,904,2217
$GC,9106,0.95,146.6,772.7,7.5,437,9111,0.00,2.50,0.00,0.000,6,0.000,0.037,2581,2304,2213
$GC,9434,0.86,164.6,749.1,6.9,453,9457,0.17,2.62,16.42,0.947,4,0.097,0.048,2548,905,2145
$GC,9498,0.86,164.6,744.1,8.2,456,9502,0.00,2.47,0.00,0.000,6,0.000,0.037,2548,2299,2143
$GC,9824,0.86,164.6,715.0,8.5,472,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2300,2140
$GC,10133,0.93,227.4,693.7,5.4,487,10197,0.00,2.75,57.55,0.999,4,0.000,0.064,2548,3707,1889
$GC,10221,1.00,289.6,689.0,5.4,491,10287,0.12,2.47,58.38,0.989,6,0.051,0.031,2583,2296,1635
$GC,10615,1.02,308.9,661.1,6.8,510,10637,0.00,2.72,17.52,0.919,4,0.000,0.061,2584,3706,1556
$GC,10672,1.03,321.0,657.2,7.1,512,10691,0.00,2.47,12.82,0.881,6,0.000,0.031,2583,2300,1507
$GC,11014,1.07,356.9,636.1,6.3,529,11056,0.00,2.62,33.70,0.944,4,0.000,0.051,2583,903,1361
$GC,11150,1.14,363.2,627.3,7.3,535,11164,0.12,2.47,6.55,0.749,6,0.051,0.035,2619,2304,1337
$GC,11480,1.14,363.2,593.4,12.1,551,11484,0.00,2.55,0.00,0.000,4,0.000,0.046,2619,892,1332
$GC,11542,1.14,363.2,585.1,13.0,554,11546,0.00,2.47,0.00,0.000,6,0.000,0.035,2619,2299,1331
$GC,11868,1.14,363.2,542.9,14.0,570,11872,0.00,2.53,0.00,0.000,4,0.000,0.046,2619,895,1330
$GC,11907,1.14,363.2,536.9,15.1,572,11912,0.00,2.47,0.00,0.000,6,0.000,0.034,2619,2305,1330
$GC,12234,1.14,363.2,490.1,13.4,588,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2305,1329
$GC,12544,1.14,363.2,455.6,10.2,603,12547,0.00,2.53,0.00,0.000,4,0.000,0.046,2619,892,1330
$GC,12622,1.14,363.2,447.0,10.8,606,12626,0.00,2.47,0.00,0.000,6,0.000,0.034,2619,2304,1329
$GC,12937,1.14,363.2,411.0,12.3,621,12941,0.00,2.50,0.00,0.000,4,0.000,0.044,2618,894,1329
$GC,13016,1.14,363.2,400.9,11.9,624,13020,0.00,2.47,0.00,0.000,6,0.000,0.034,2619,2309,1329
$GC,13331,1.14,363.2,364.4,11.2,639,13336,0.00,2.53,0.00,0.000,4,0.000,0.044,2619,894,1329
$GC,13371,1.14,363.2,359.8,11.4,641,13376,0.00,2.45,0.00,0.000,6,0.000,0.033,2619,2301,1329
$GC,13698,1.14,363.2,322.2,11.7,657,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2301,1329
$GC,14007,1.14,363.2,284.6,12.5,672,14012,0.00,2.53,0.00,0.000,4,0.000,0.045,2619,888,1329
$GC,14070,1.14,363.2,276.7,12.3,675,14074,0.00,2.47,0.00,0.000,6,0.000,0.034,2619,2306,1329
$GC,14397,1.14,363.2,235.3,12.4,691,14401,0.00,2.53,0.00,0.000,4,0.000,0.044,2619,891,1329
$GC,14436,1.14,363.2,229.8,12.9,693,14441,0.00,2.45,0.00,0.000,6,0.000,0.034,2619,2300,1329
$GC,14763,1.14,363.2,191.6,11.2,709,14767,0.00,2.50,0.00,0.000,4,0.000,0.044,2619,894,1329
$GC,14803,1.14,363.2,187.2,11.8,711,14807,0.00,2.45,0.00,0.000,6,0.000,0.033,2619,2304,1329
$GC,15129,1.14,363.2,148.6,12.0,727,15133,0.00,2.53,0.00,0.000,4,0.000,0.044,2619,887,1329
$GC,15196,1.14,363.2,140.3,12.7,730,15201,0.00,2.47,0.00,0.000,6,0.000,0.034,2619,2306,1329
$GC,15518,1.14,363.2,96.9,13.9,746,15522,0.00,2.53,0.00,0.000,4,0.000,0.044,2619,891,1329
$GC,15584,1.14,363.2,86.8,14.2,749,15589,0.00,2.47,0.00,0.000,6,0.000,0.033,2619,2311,1329
$GC,15906,1.14,363.2,36.0,15.6,765,15911,0.00,2.53,0.00,0.000,4,0.000,0.044,2619,892,1329
$GC,15984,1.14,363.2,25.8,11.2,768,15991,0.00,2.45,0.00,0.000,6,0.000,0.034,2619,2306,1329
$STATE,16194,end climb,SURFACE_DEPTH_REACHED
$STATE,16195,begin surface coast
$FINISH,0.7,1.018308
$STATE,16216,end surface coast,CONTROL_FINISHED_OK
$STATE,16217,begin surface
$SM_CCo,16300,0.00,0.000,0,0,1327,365.50
$SM_GC,1.67,12.23,0.00,0.00,0.092,0.000,0.000,79,2609,1327,-10.45,0.25,365.50
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1731
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.6,21.882
$10V_AH,10.1,10.721
$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,28.100,153.500,464.525,0.000,0.000,51.570,55.463,154.301,7.250,0.000,0.000,17.060,1441.803,12443.246,548.257,1783.216,538.828,0.000,1476.906,0.000,1724.968,0.000,51.814,0.000
$DEVICE_MAMPS,190.216,78.234,1073.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.981,534.518,443.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37966,780
$CAP_FILE_SIZE,123303,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270609,011830,6344.312,-1308.290,38,1.3,43,-12.4