version: 66.04
glider: 16
mission: 13
dive: 87
start: 6 21 109 7 10 38
data:
$ID,16
$MISSION,13
$DIVE,87
$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,-2109178.5
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,070107,6238.178,-1215.958,34,1.4,34,-11.4
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.6
$GPS2,071019,6238.261,-1215.956,15,1.8,32,-11.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$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,309.1,46824,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.03,0.000,2,0.000,0.000,73,2606,3325
$GC,81,-1.03,-146.6,5.3,-9.6,3,103,11.90,2.55,-1.50,0.000,4,0.183,0.051,2129,1193,3418
$GC,284,-1.03,-146.6,36.2,-11.0,12,288,0.00,2.47,0.00,0.000,6,0.000,0.037,2129,2600,3418
$GC,611,-1.03,-146.6,67.6,-9.6,28,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,920,-1.03,-146.6,96.6,-9.9,43,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1229,-1.03,-146.6,124.9,-8.9,58,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1538,-1.03,-146.6,154.3,-9.5,73,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1848,-1.03,-146.6,182.4,-8.8,88,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,2157,-1.03,-146.6,209.8,-8.5,103,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,2466,-1.03,-146.6,234.7,-8.1,118,2470,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1193,3419
$GC,2510,-1.03,-146.6,238.3,-8.4,120,2514,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2599,3419
$GC,2831,-1.03,-146.6,266.2,-8.9,136,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3419
$GC,3140,-1.03,-146.6,293.2,-9.0,151,3144,0.00,2.47,0.00,0.000,4,0.000,0.040,2129,1193,3419
$GC,3180,-1.03,-146.6,296.8,-9.3,153,3184,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2600,3419
$GC,3506,-1.03,-146.6,327.7,-9.3,169,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3815,-1.03,-146.6,356.9,-9.4,184,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4125,-1.03,-146.6,385.7,-9.2,199,4129,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1194,3418
$GC,4169,-1.03,-146.6,389.9,-9.2,201,4173,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2602,3418
$GC,4496,-1.03,-146.6,419.2,-9.1,217,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,4805,-1.03,-146.6,446.1,-8.5,232,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3418
$GC,5114,-1.03,-146.6,473.9,-9.2,247,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3418
$GC,5424,-1.03,-146.6,501.7,-9.0,262,5428,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1185,3417
$GC,5469,-1.08,-146.6,505.8,-9.0,264,5473,0.00,2.50,0.00,0.000,6,0.000,0.039,2129,2607,3418
$GC,5790,-1.08,-146.6,534.9,-9.2,280,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3417
$GC,6099,-1.08,-146.6,564.3,-9.5,295,6103,0.00,2.50,0.00,0.000,4,0.000,0.042,2129,1189,3417
$GC,6143,-1.13,-146.6,568.6,-9.7,297,6148,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2599,3417
$GC,6464,-1.13,-146.6,598.6,-9.2,313,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3416
$GC,6775,-1.13,-146.6,626.5,-9.0,328,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,7083,-1.13,-146.6,654.1,-8.9,343,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,7392,-1.13,-146.6,680.9,-8.3,358,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,7702,-1.13,-146.6,701.9,-6.1,373,7706,0.00,2.47,0.00,0.000,4,0.000,0.043,2129,1193,3416
$GC,7742,-1.19,-146.6,704.5,-6.6,375,7747,0.15,2.47,0.00,0.000,6,0.045,0.041,2085,2599,3415
$GC,8071,-1.10,-146.6,734.6,-9.5,391,8073,0.17,0.00,0.00,0.000,6,0.099,0.000,2118,2599,3415
$GC,8379,-1.10,-146.6,761.1,-8.8,406,8382,0.00,2.47,0.00,0.000,4,0.000,0.045,2118,1194,3415
$GC,8417,-1.10,-146.6,764.6,-8.4,407,8423,0.00,2.50,0.00,0.000,6,0.000,0.041,2118,2605,3415
$GC,8733,-1.10,-146.6,790.9,-8.4,423,8737,0.00,2.50,0.00,0.000,4,0.000,0.046,2118,1194,3415
$STATE,8808,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8809,begin apogee
$GC,8818,-0.31,0.0,797.0,8.4,426,8952,0.80,0.00,130.62,1.082,6,0.098,0.000,2285,2301,2817
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8955,1.03,146.6,800.1,0.0,433,9100,1.40,2.80,132.65,1.071,4,0.082,0.074,2578,3701,2218
$GC,9236,0.90,146.6,785.4,8.3,446,9242,0.12,2.50,0.00,0.000,6,0.117,0.037,2557,2300,2214
$GC,9563,0.82,146.6,761.8,8.0,462,9568,0.00,2.60,0.00,0.000,4,0.000,0.058,2556,892,2211
$GC,9741,0.74,147.0,748.7,7.5,470,9746,0.20,2.53,0.00,0.000,6,0.100,0.042,2518,2303,2208
$GC,10068,0.82,187.6,729.4,6.1,486,10111,0.00,2.78,36.70,1.021,4,0.000,0.071,2519,3702,2052
$GC,10209,0.88,188.1,719.7,7.5,492,10214,0.15,2.50,0.00,0.000,6,0.052,0.034,2559,2293,2050
$GC,10530,0.91,208.6,696.5,6.8,508,10555,0.00,2.62,20.02,0.972,4,0.000,0.054,2559,891,1965
$GC,10591,0.93,232.1,692.5,6.7,511,10620,0.00,2.53,23.27,0.978,6,0.000,0.038,2559,2305,1869
$GC,10943,0.94,236.3,667.4,7.4,528,10950,0.00,0.00,4.65,0.684,6,0.000,0.000,2559,2304,1852
$GC,11253,0.94,236.3,642.9,7.6,543,11257,0.00,2.62,0.00,0.000,4,0.000,0.067,2559,3702,1852
$GC,11330,0.94,236.3,636.6,8.1,546,11336,0.00,2.47,0.00,0.000,6,0.000,0.032,2559,2294,1852
$GC,11646,0.94,236.3,612.0,8.3,562,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2293,1850
$GC,11955,0.94,236.3,585.0,8.8,577,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2293,1850
$GC,12264,0.94,236.3,557.6,8.8,592,12268,0.00,2.62,0.00,0.000,4,0.000,0.063,2559,3703,1850
$GC,12314,0.94,236.3,552.7,10.0,594,12318,0.00,2.45,0.00,0.000,6,0.000,0.031,2559,2297,1850
$GC,12630,0.94,236.3,525.0,8.2,609,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,1850
$GC,12939,0.95,245.3,501.1,7.2,624,12950,0.00,0.00,9.48,0.781,6,0.000,0.000,2559,2298,1817
$GC,13248,0.95,245.3,477.5,8.0,639,13252,0.00,2.50,0.00,0.000,4,0.000,0.050,2559,898,1815
$GC,13298,0.95,245.3,473.2,8.3,641,13302,0.00,2.47,0.00,0.000,6,0.000,0.036,2559,2309,1813
$GC,13618,0.95,245.3,447.9,8.1,657,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2309,1814
$GC,13927,0.95,245.3,423.6,8.0,672,13932,0.00,2.58,0.00,0.000,4,0.000,0.063,2559,3702,1814
$GC,13968,0.95,245.3,420.3,8.1,674,13972,0.00,2.45,0.00,0.000,6,0.000,0.031,2559,2292,1814
$GC,14294,0.95,245.3,395.0,7.7,690,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2292,1814
$GC,14603,0.95,245.3,370.9,7.7,705,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2292,1814
$GC,14913,0.99,245.3,347.0,7.5,720,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2292,1814
$GC,15223,1.04,253.3,324.9,7.2,735,15234,0.12,0.00,8.90,0.676,6,0.048,0.000,2592,2291,1784
$GC,15531,1.04,253.3,295.2,10.4,750,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2291,1782
$GC,15840,1.04,253.3,262.1,10.8,765,15842,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2291,1782
$GC,16150,1.04,253.3,228.5,10.5,780,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2291,1782
$GC,16459,1.04,253.3,195.9,9.8,795,16463,0.00,2.60,0.00,0.000,4,0.000,0.061,2592,3705,1782
$GC,16509,0.95,253.3,190.9,10.0,797,16514,0.12,2.45,0.00,0.000,6,0.094,0.030,2569,2294,1782
$GC,16824,0.95,253.3,163.5,8.8,812,16828,0.00,2.50,0.00,0.000,4,0.000,0.048,2568,895,1782
$GC,16864,0.95,253.3,159.9,8.4,814,16869,0.00,2.45,0.00,0.000,6,0.000,0.035,2569,2302,1781
$GC,17191,0.95,253.3,129.6,10.3,830,17196,0.00,2.58,0.00,0.000,4,0.000,0.061,2568,3701,1782
$GC,17242,0.95,253.3,124.0,11.1,832,17246,0.00,2.42,0.00,0.000,6,0.000,0.030,2569,2297,1781
$GC,17558,0.95,253.3,93.8,9.3,847,17559,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,1781
$GC,17867,1.00,253.3,64.9,10.9,862,17868,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,1782
$GC,18177,1.13,330.3,40.4,4.9,877,18251,0.17,2.60,67.28,0.594,4,0.044,0.046,2619,898,1469
$GC,18350,1.13,330.3,22.3,19.1,885,18354,0.00,2.47,0.00,0.000,6,0.000,0.035,2619,2304,1462
$STATE,18488,end climb,SURFACE_DEPTH_REACHED
$STATE,18488,begin surface coast
$FINISH,0.7,1.013182
$STATE,18510,end surface coast,CONTROL_FINISHED_OK
$STATE,18510,begin surface
$SM_CCo,18594,0.00,0.000,0,0,1458,333.36
$SM_GC,1.41,12.15,0.00,0.00,0.085,0.000,0.000,77,2607,1458,-10.46,0.20,333.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1731
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.8,79.9
$24V_AH,23.6,18.356
$10V_AH,10.1,8.648
$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,27.475,105.875,433.575,0.000,0.000,36.057,52.907,258.831,6.250,0.000,0.000,31.993,1590.252,14531.347,522.927,1880.171,619.187,0.000,1441.551,0.000,1817.261,0.000,43.478,0.000
$DEVICE_MAMPS,183.313,74.399,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.001,616.415,504.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44278,893
$CAP_FILE_SIZE,127264,0
$CFSIZE,260165632,253390848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210609,122137,6239.718,-1222.572,29,1.2,29,-11.5