version: 66.04
glider: 16
mission: 13
dive: 82
start: 6 20 109 3 50 34
data:
$ID,16
$MISSION,13
$DIVE,82
$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,-2109074.2
$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,49
$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
$GPS1,034506,6228.974,-1140.466,43,1.5,49,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.2
$GPS2,035014,6228.986,-1140.486,17,1.6,17,-11.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$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,312.4,39309,-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,15,-1.03,-146.6,0.0,0.0,0,73,0.00,0.00,-53.45,0.000,6,0.000,0.000,67,2582,3415
$GC,76,-1.03,-146.6,7.0,-10.7,3,98,11.95,2.40,0.00,0.000,4,0.184,0.062,2131,3858,3417
$GC,249,-1.03,-146.6,39.7,-10.7,10,256,0.00,2.12,0.00,0.000,6,0.000,0.028,2131,2596,3417
$GC,567,-1.03,-146.6,69.7,-9.2,26,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3418
$GC,875,-1.03,-146.6,97.7,-9.3,41,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3418
$GC,1184,-1.03,-146.6,126.0,-9.2,56,1188,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1207,3418
$GC,1224,-1.03,-146.6,129.7,-9.2,58,1228,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2599,3419
$GC,1550,-1.03,-146.6,159.8,-9.4,74,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3418
$GC,1859,-1.03,-146.6,189.7,-9.6,89,1863,0.00,2.45,0.00,0.000,4,0.000,0.040,2131,1209,3418
$GC,1900,-1.03,-146.6,193.8,-10.1,91,1904,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2601,3418
$GC,2227,-1.03,-146.6,225.4,-9.7,107,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,2535,-1.03,-146.6,255.6,-9.6,122,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,2845,-1.03,-146.6,284.7,-9.1,137,2849,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1211,3418
$GC,2883,-1.03,-146.6,288.5,-8.9,138,2890,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2603,3418
$GC,3199,-1.03,-146.6,316.5,-8.6,154,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,3508,-1.03,-146.6,344.1,-9.0,169,3512,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1209,3419
$GC,3553,-1.07,-146.6,347.9,-8.1,171,3557,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2601,3418
$GC,3875,-1.07,-146.6,375.1,-8.5,187,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3418
$GC,4184,-1.07,-146.6,401.6,-8.4,202,4188,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1210,3418
$GC,4223,-1.07,-146.6,405.1,-8.6,204,4228,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2604,3418
$GC,4550,-1.07,-146.6,433.9,-9.0,220,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3417
$GC,4859,-1.07,-146.6,460.1,-8.4,235,4863,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1211,3418
$GC,4922,-1.12,-146.6,465.3,-7.9,238,4926,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2605,3418
$GC,5249,-1.12,-146.6,493.3,-8.9,254,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3418
$GC,5558,-1.12,-146.6,519.2,-8.2,269,5562,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1211,3417
$GC,5608,-1.17,-146.6,523.4,-7.9,271,5613,0.12,2.45,0.00,0.000,6,0.047,0.039,2092,2605,3417
$GC,5925,-1.07,-146.6,555.9,-10.5,286,5927,0.17,0.00,0.00,0.000,6,0.101,0.000,2125,2605,3417
$GC,6234,-1.07,-146.6,582.7,-9.0,301,6238,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1211,3417
$GC,6278,-1.07,-146.6,586.9,-9.2,303,6282,0.00,2.45,0.00,0.000,6,0.000,0.039,2125,2605,3417
$GC,6599,-1.07,-146.6,614.9,-8.5,319,6603,0.00,2.45,0.00,0.000,4,0.000,0.041,2125,1211,3417
$GC,6639,-1.07,-146.6,618.3,-8.4,321,6643,0.00,2.45,0.00,0.000,6,0.000,0.040,2125,2604,3417
$GC,6965,-1.07,-146.6,646.1,-8.8,337,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3416
$GC,7274,-1.07,-146.6,670.9,-7.5,352,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3416
$GC,7584,-1.07,-146.6,694.7,-7.5,367,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3416
$GC,7893,-1.07,-146.6,718.7,-7.8,382,7897,0.00,2.47,0.00,0.000,4,0.000,0.044,2125,1206,3416
$GC,7932,-1.12,-146.6,721.9,-7.9,384,7937,0.00,2.47,0.00,0.000,6,0.000,0.042,2125,2607,3416
$GC,8260,-1.12,-146.6,747.5,-7.5,400,8264,0.00,2.47,0.00,0.000,4,0.000,0.045,2125,1210,3415
$GC,8300,-1.18,-146.6,750.5,-7.2,402,8305,0.00,2.45,0.00,0.000,6,0.000,0.043,2125,2597,3415
$GC,8627,-1.18,-146.6,774.8,-7.8,418,8631,0.00,2.47,0.00,0.000,4,0.000,0.046,2125,1206,3415
$STATE,8657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8657,begin apogee
$GC,8666,-0.31,0.0,777.7,8.0,419,8799,0.77,0.00,129.73,1.081,6,0.100,0.000,2286,2303,2817
$STATE,8800,end apogee,CONTROL_FINISHED_OK
$STATE,8800,begin climb
$GC,8803,1.03,146.6,783.0,0.0,426,8946,1.38,2.78,132.15,1.068,4,0.071,0.074,2579,3701,2218
$GC,9012,0.85,148.4,776.2,7.4,435,9019,0.17,2.45,0.00,0.000,6,0.100,0.036,2547,2322,2214
$GC,9329,0.82,167.2,754.9,6.9,451,9353,0.00,2.70,18.75,0.980,4,0.000,0.058,2548,905,2135
$GC,9463,0.82,167.2,745.0,7.7,457,9467,0.00,2.50,0.00,0.000,6,0.000,0.041,2547,2301,2131
$GC,9789,0.86,205.3,723.6,6.2,473,9829,0.00,0.00,35.53,1.011,6,0.000,0.000,2547,2301,1979
$GC,10139,0.89,230.3,701.2,6.6,490,10165,0.00,0.00,24.00,0.985,6,0.000,0.000,2547,2301,1877
$GC,10468,0.89,230.3,676.7,7.6,506,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2301,1872
$GC,10778,0.89,235.0,653.3,7.3,521,10788,0.00,2.67,4.78,0.690,4,0.000,0.069,2547,3705,1859
$GC,10839,0.89,235.0,648.2,8.3,524,10843,0.00,2.47,0.00,0.000,6,0.000,0.033,2547,2298,1859
$GC,11166,0.95,236.1,623.8,7.5,540,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2298,1858
$GC,11475,0.99,238.8,600.5,7.4,555,11486,0.12,2.55,5.25,0.701,4,0.051,0.052,2585,898,1842
$GC,11520,0.93,238.8,596.3,9.3,557,11525,0.12,2.50,0.00,0.000,6,0.096,0.038,2562,2309,1841
$GC,11841,0.93,238.8,568.6,8.8,573,11845,0.00,2.60,0.00,0.000,4,0.000,0.065,2562,3704,1841
$GC,11880,0.93,238.8,564.8,10.0,575,11884,0.00,2.45,0.00,0.000,6,0.000,0.032,2562,2301,1841
$GC,12207,0.93,238.8,535.8,9.0,591,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1841
$GC,12516,0.93,238.8,508.5,8.6,606,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1841
$GC,12825,0.93,238.8,481.8,8.6,621,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2301,1841
$GC,13135,0.93,238.8,454.6,8.7,636,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1841
$GC,13444,0.93,238.8,427.8,8.5,651,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1841
$GC,13753,0.93,238.8,401.4,8.4,666,13757,0.00,2.60,0.00,0.000,4,0.000,0.063,2562,3705,1841
$GC,13798,0.93,238.8,397.4,9.7,668,13803,0.00,2.45,0.00,0.000,6,0.000,0.031,2562,2296,1842
$GC,14119,0.93,238.8,371.1,7.9,684,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1842
$GC,14429,0.93,238.8,346.6,7.9,699,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1842
$GC,14738,0.93,238.8,321.5,8.4,714,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1842
$GC,15047,0.93,238.8,295.9,8.2,729,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1842
$GC,15357,0.93,238.8,271.7,7.7,744,15361,0.00,2.60,0.00,0.000,4,0.000,0.061,2562,3704,1842
$GC,15400,0.93,238.8,267.9,8.3,746,15404,0.00,2.42,0.00,0.000,6,0.000,0.031,2562,2300,1842
$GC,15727,0.93,238.8,242.7,7.6,762,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1842
$GC,16036,0.93,238.8,218.6,7.8,777,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1842
$GC,16346,0.93,238.8,194.8,7.6,792,16347,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2299,1842
$GC,16655,0.93,238.8,171.2,7.8,807,16659,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3702,1842
$GC,16699,0.93,238.8,167.4,8.6,809,16703,0.00,2.42,0.00,0.000,6,0.000,0.031,2562,2298,1842
$GC,17020,0.93,238.8,141.8,7.9,825,17021,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2298,1842
$GC,17330,0.93,238.8,117.8,7.8,840,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2298,1842
$GC,17638,0.93,238.8,93.2,8.0,855,17639,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2298,1842
$GC,17948,0.93,238.8,67.6,8.3,870,17949,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2298,1842
$GC,18257,0.97,238.8,39.9,9.3,885,18261,0.00,2.58,0.00,0.000,4,0.000,0.059,2562,3702,1842
$GC,18297,0.97,238.8,35.9,10.9,887,18301,0.00,2.42,0.00,0.000,6,0.000,0.031,2562,2292,1842
$GC,18630,1.03,238.8,6.9,7.7,903,18634,0.00,2.47,0.00,0.000,4,0.000,0.047,2562,896,1842
$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18677,begin surface coast
$FINISH,1.4,1.026527
$STATE,18695,end surface coast,CONTROL_FINISHED_OK
$STATE,18695,begin surface
$SM_CCo,18721,6.22,0.473,0,0,1796,250.21
$SM_GC,3.21,0.00,0.00,6.22,0.000,0.000,0.473,71,2602,1796,-10.53,0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1734
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.0,62.3
$24V_AH,23.6,17.703
$10V_AH,10.1,8.236
$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,26.550,114.150,350.175,6.225,0.000,18.201,26.626,141.168,6.250,0.000,0.000,17.375,1611.047,14686.515,483.152,1805.577,452.990,0.000,1363.300,0.000,1765.459,0.000,43.134,0.000
$DEVICE_MAMPS,184.080,73.632,1081.470,473.239,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.195,624.163,525.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44261,906
$CAP_FILE_SIZE,122790,0
$CFSIZE,260165632,253706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200609,090415,6231.730,-1144.223,39,1.5,54,-11.1