version: 66.04
glider: 16
mission: 13
dive: 83
start: 6 20 109 9 10 22
data:
$ID,16
$MISSION,13
$DIVE,83
$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,-2109105
$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,33
$R_STBD_OVSHOOT,20
$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
$GPS1,090415,6231.730,-1144.223,39,1.5,54,-11.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.9
$GPS2,091006,6231.754,-1144.205,12,1.9,29,-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,307.7,34055,-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,-53.38,0.000,6,0.000,0.000,71,2603,3417
$GC,76,-1.03,-146.6,6.9,-10.6,3,98,11.82,2.38,0.00,0.000,4,0.182,0.062,2128,3864,3418
$GC,279,-1.03,-146.6,41.2,-9.6,12,283,0.00,2.17,0.00,0.000,6,0.000,0.028,2128,2581,3419
$GC,607,-1.03,-146.6,69.9,-8.5,28,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3419
$GC,915,-1.03,-146.6,98.0,-8.8,43,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,1224,-1.03,-146.6,125.2,-9.2,58,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2580,3420
$GC,1533,-1.03,-146.6,154.0,-9.3,73,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,1842,-1.03,-146.6,181.5,-8.7,88,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,2151,-1.03,-146.6,209.1,-9.0,103,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,2461,-1.03,-146.6,237.4,-9.1,118,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,2770,-1.03,-146.6,266.1,-9.1,133,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2579,3420
$GC,3079,-1.03,-146.6,294.5,-9.3,148,3083,0.00,2.42,0.00,0.000,4,0.000,0.042,2128,1204,3419
$GC,3118,-1.03,-146.6,298.1,-9.1,150,3123,0.00,2.47,0.00,0.000,6,0.000,0.039,2128,2612,3419
$GC,3446,-1.03,-146.6,327.6,-9.0,166,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2611,3419
$GC,3755,-1.03,-146.6,355.1,-8.7,181,3759,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1209,3419
$GC,3793,-1.03,-146.6,358.6,-8.4,182,3800,0.00,2.45,0.00,0.000,6,0.000,0.039,2128,2600,3419
$GC,4109,-1.03,-146.6,387.1,-9.3,198,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,4418,-1.03,-146.6,414.7,-8.8,213,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3419
$GC,4727,-1.03,-146.6,442.2,-8.8,228,4732,0.00,2.45,0.00,0.000,4,0.000,0.042,2128,1206,3418
$GC,4772,-1.08,-146.6,446.1,-8.7,230,4777,0.00,2.45,0.00,0.000,6,0.000,0.039,2129,2600,3418
$GC,5094,-1.08,-146.6,473.0,-8.5,246,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,5404,-1.08,-146.6,500.4,-8.9,261,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,5715,-1.08,-146.6,526.1,-8.0,276,5719,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1211,3418
$GC,5765,-1.12,-146.6,530.4,-8.0,278,5769,0.00,2.45,0.00,0.000,6,0.000,0.040,2129,2602,3418
$GC,6080,-1.12,-146.6,557.2,-8.7,293,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3419
$GC,6390,-1.12,-146.6,583.6,-8.5,308,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3418
$GC,6699,-1.12,-146.6,609.6,-7.9,323,6703,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1211,3418
$GC,6743,-1.16,-146.6,613.2,-8.0,325,6747,0.00,2.45,0.00,0.000,6,0.000,0.040,2129,2601,3418
$GC,7064,-1.16,-146.6,639.5,-8.5,341,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3418
$GC,7373,-1.16,-146.6,665.6,-8.3,356,7377,0.00,2.45,0.00,0.000,4,0.000,0.043,2128,1210,3417
$GC,7429,-1.22,-146.6,670.2,-8.4,358,7435,0.15,2.45,0.00,0.000,6,0.044,0.041,2084,2599,3417
$GC,7745,-1.11,-146.6,702.9,-10.9,374,7746,0.17,0.00,0.00,0.000,6,0.100,0.000,2117,2600,3417
$GC,8053,-1.11,-146.6,730.5,-8.7,389,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2600,3417
$GC,8363,-1.11,-146.6,757.0,-8.7,404,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2600,3416
$STATE,8566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8566,begin apogee
$GC,8573,-0.31,0.0,775.4,8.9,414,8710,0.88,0.00,130.32,1.075,6,0.120,0.000,2287,2305,2816
$STATE,8710,end apogee,CONTROL_FINISHED_OK
$STATE,8710,begin climb
$GC,8713,1.03,146.6,779.2,0.0,421,8850,1.40,0.00,132.20,1.065,6,0.068,0.000,2584,2305,2219
$GC,9162,0.93,154.9,753.6,7.2,443,9171,0.00,0.00,7.85,0.854,6,0.000,0.000,2584,2304,2184
$GC,9469,0.85,161.4,730.9,7.3,458,9483,0.20,2.75,7.00,0.825,4,0.094,0.071,2542,3704,2159
$GC,9670,0.79,161.4,715.7,7.6,467,9674,0.00,2.47,0.00,0.000,6,0.000,0.035,2542,2305,2157
$GC,9996,0.84,203.8,695.0,6.0,483,10042,0.00,2.70,39.75,1.006,4,0.000,0.067,2542,3707,1986
$GC,10083,0.84,203.8,689.1,7.7,487,10087,0.00,2.50,0.00,0.000,6,0.000,0.035,2542,2293,1984
$GC,10409,0.86,230.5,667.0,6.6,503,10440,0.00,2.60,25.12,0.969,4,0.000,0.054,2542,897,1876
$GC,10485,0.94,249.9,661.7,6.8,506,10513,0.10,2.50,19.75,0.945,6,0.056,0.038,2571,2303,1797
$GC,10823,0.94,249.9,633.4,8.5,523,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1792
$GC,11131,0.94,249.9,606.3,9.0,538,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1791
$GC,11440,0.94,249.9,578.5,9.3,553,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1790
$GC,11749,0.94,249.9,553.2,8.1,568,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1790
$GC,12058,0.94,249.9,528.1,8.2,583,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1789
$GC,12368,0.94,249.9,503.6,7.9,598,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1789
$GC,12677,0.94,249.9,478.3,8.5,613,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1789
$GC,12986,0.94,249.9,451.7,8.6,628,12990,0.00,2.53,0.00,0.000,4,0.000,0.048,2571,892,1789
$GC,13038,0.94,249.9,447.2,9.4,630,13042,0.00,2.47,0.00,0.000,6,0.000,0.035,2571,2305,1788
$GC,13359,0.94,249.9,420.0,8.5,646,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2305,1788
$GC,13668,0.94,249.9,393.6,8.5,661,13669,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2305,1788
$GC,13977,0.94,249.9,367.0,8.5,676,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2305,1788
$GC,14286,0.94,249.9,340.7,8.7,691,14291,0.00,2.53,0.00,0.000,4,0.000,0.046,2571,895,1788
$GC,14325,0.94,249.9,337.1,8.7,692,14331,0.00,2.47,0.00,0.000,6,0.000,0.035,2571,2308,1788
$GC,14641,0.94,249.9,310.9,8.3,708,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2308,1788
$GC,14950,0.94,249.9,286.1,7.9,723,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2308,1788
$GC,15259,0.94,249.9,261.5,8.0,738,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2308,1788
$GC,15569,0.94,249.9,237.3,7.7,753,15573,0.00,2.53,0.00,0.000,4,0.000,0.045,2571,894,1788
$GC,15614,0.94,249.9,233.4,8.8,755,15618,0.00,2.45,0.00,0.000,6,0.000,0.035,2571,2302,1788
$GC,15946,0.94,249.9,206.9,8.2,771,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1788
$GC,16256,0.94,249.9,181.8,8.1,786,16257,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2303,1788
$GC,16565,0.94,249.9,156.8,7.8,801,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1789
$GC,16874,0.94,249.9,132.7,7.8,816,16875,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1788
$GC,17184,0.94,249.9,108.2,8.1,831,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1789
$GC,17493,0.95,254.7,83.6,7.3,846,17502,0.00,2.50,4.40,0.449,4,0.000,0.044,2571,894,1777
$GC,17538,0.95,254.7,80.2,7.5,848,17542,0.00,2.45,0.00,0.000,6,0.000,0.035,2570,2307,1776
$GC,17865,0.95,254.7,55.3,8.1,864,17866,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2306,1776
$GC,18174,0.95,254.7,27.9,9.4,879,18175,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2307,1777
$STATE,18482,end climb,SURFACE_DEPTH_REACHED
$STATE,18482,begin surface coast
$FINISH,1.1,1.026419
$STATE,18502,end surface coast,CONTROL_FINISHED_OK
$STATE,18503,begin surface
$SM_CCo,18585,0.00,0.000,0,0,1773,256.09
$SM_GC,1.45,11.75,0.00,0.00,0.082,0.000,0.000,73,2600,1773,-10.47,0.00,256.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1744
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.1,59.6
$24V_AH,23.6,17.822
$10V_AH,10.1,8.315
$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,26.475,70.400,366.400,0.000,0.000,18.053,28.609,167.741,6.250,0.000,0.000,29.919,1550.601,14724.911,465.727,1725.880,465.061,0.000,1281.661,0.000,1675.326,0.000,43.121,0.000
$DEVICE_MAMPS,181.779,71.331,1075.334,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,658.162,613.432,528.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44223,895
$CAP_FILE_SIZE,111027,0
$CFSIZE,260165632,253652992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200609,142125,6232.303,-1152.620,42,1.6,42,-11.2