version: 66.04
glider: 16
mission: 13
dive: 88
start: 6 21 109 12 27 45
data:
$ID,16
$MISSION,13
$DIVE,88
$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,-2109194
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,122137,6239.718,-1222.572,29,1.2,29,-11.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.8
$GPS2,122726,6239.681,-1222.538,14,1.2,14,-11.5
$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,309.5,40675,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.30,0.000,2,0.000,0.000,76,2608,3173
$GC,82,-1.03,-146.6,4.8,-8.1,3,105,12.10,2.50,-4.28,0.000,4,0.190,0.053,2130,1196,3416
$GC,174,-1.03,-146.6,21.6,-9.0,7,178,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2597,3417
$GC,500,-1.03,-146.6,44.7,-8.9,23,504,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1194,3418
$GC,563,-1.03,-146.6,50.9,-10.0,26,567,0.00,2.47,0.00,0.000,6,0.000,0.035,2130,2601,3418
$GC,890,-1.03,-146.6,85.0,-9.1,42,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,1200,-1.03,-146.6,117.4,-10.9,57,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,1508,-1.03,-146.6,145.5,-8.2,72,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,1817,-1.03,-146.6,172.3,-8.7,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,2127,-1.03,-146.6,196.2,-7.4,102,2131,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1189,3419
$GC,2171,-1.03,-146.6,199.5,-6.8,104,2176,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2607,3418
$GC,2493,-1.03,-146.6,223.0,-7.4,120,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3419
$GC,2802,-1.03,-146.6,246.6,-7.8,135,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3418
$GC,3111,-1.03,-146.6,271.2,-8.3,150,3115,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3418
$GC,3160,-1.03,-146.6,275.5,-7.8,152,3165,0.00,2.47,0.00,0.000,6,0.000,0.039,2130,2602,3418
$GC,3482,-1.03,-146.6,302.8,-8.6,168,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,3791,-1.03,-146.6,332.2,-10.4,183,3795,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3418
$GC,3842,-1.07,-146.6,337.7,-10.7,185,3846,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2602,3418
$GC,4157,-1.07,-146.6,370.0,-9.7,200,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,4467,-1.07,-146.6,399.7,-8.9,215,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,4776,-1.07,-146.6,427.4,-8.8,230,4780,0.00,2.50,0.00,0.000,4,0.000,0.042,2130,1187,3418
$GC,4848,-1.12,-146.6,433.9,-8.9,233,4853,0.00,2.47,0.00,0.000,6,0.000,0.039,2130,2603,3417
$GC,5164,-1.12,-146.6,461.8,-8.5,248,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3418
$GC,5473,-1.12,-146.6,486.0,-7.4,263,5478,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1196,3417
$GC,5514,-1.17,-146.6,488.8,-6.5,265,5519,0.12,2.47,0.00,0.000,6,0.048,0.039,2090,2603,3417
$GC,5842,-1.05,-146.6,517.1,-8.3,281,5843,0.20,0.00,0.00,0.000,6,0.096,0.000,2129,2603,3417
$GC,6150,-1.05,-146.6,533.3,-4.2,296,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3416
$GC,6462,-1.05,-146.6,550.8,-7.9,311,6466,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1196,3416
$GC,6502,-1.10,-146.6,554.7,-9.8,313,6506,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2605,3416
$GC,6828,-1.10,-146.6,587.2,-10.1,329,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3416
$GC,7138,-1.10,-146.6,606.9,-5.7,344,7142,0.00,2.50,0.00,0.000,4,0.000,0.043,2129,1190,3416
$GC,7188,-1.16,-146.6,610.9,-7.7,346,7192,0.00,2.47,0.00,0.000,6,0.000,0.039,2130,2600,3416
$GC,7504,-1.16,-146.6,639.4,-9.4,361,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3415
$GC,7814,-1.16,-146.6,657.1,-3.2,376,7818,0.00,2.47,0.00,0.000,4,0.000,0.042,2128,1196,3415
$GC,7854,-1.21,-146.6,658.1,-2.6,378,7859,0.15,2.47,0.00,0.000,6,0.047,0.040,2084,2601,3415
$GC,8181,-1.10,-146.6,695.8,-14.1,394,8186,0.17,2.47,0.00,0.000,4,0.097,0.042,2122,1194,3415
$GC,8259,-1.10,-146.6,704.5,-10.0,397,8265,0.00,2.50,0.00,0.000,6,0.000,0.041,2122,2609,3415
$GC,8577,-1.10,-146.6,726.2,-7.1,413,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3415
$GC,8885,-1.10,-146.6,751.8,-9.7,428,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3414
$GC,9195,-1.10,-146.6,776.8,-6.9,443,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2609,3414
$GC,9502,-1.10,-146.6,790.9,-8.4,458,9506,0.00,2.53,0.00,0.000,4,0.000,0.048,2122,1195,3414
$GC,9558,-1.17,-146.6,796.7,-10.9,460,9565,0.00,2.50,0.00,0.000,6,0.000,0.044,2122,2605,3414
$GC,9874,-1.17,-146.6,824.7,-8.3,476,9879,0.00,2.53,0.00,0.000,4,0.000,0.048,2122,1192,3413
$GC,9947,-1.17,-146.6,829.7,-9.1,479,9951,0.00,2.53,0.00,0.000,6,0.000,0.048,2122,2601,3413
$STATE,9971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9971,begin apogee
$GC,9978,-0.31,0.0,831.4,7.2,480,10114,0.82,0.00,131.18,1.111,6,0.104,0.000,2288,2296,2817
$STATE,10115,end apogee,CONTROL_FINISHED_OK
$STATE,10115,begin climb
$GC,10118,1.03,146.6,833.6,0.0,487,10255,1.38,0.00,132.45,1.100,6,0.076,0.000,2579,2295,2219
$GC,10551,0.93,146.6,792.2,8.3,508,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2294,2212
$GC,10860,0.91,186.0,776.9,6.2,523,10903,0.12,2.60,36.03,1.045,4,0.104,0.053,2555,908,2056
$GC,11012,0.85,186.0,763.7,10.1,529,11018,0.00,2.53,0.00,0.000,6,0.000,0.042,2556,2311,2051
$GC,11327,0.85,186.0,734.9,7.9,545,11332,0.00,2.65,0.00,0.000,4,0.000,0.071,2556,3704,2050
$GC,11400,0.78,191.3,729.2,7.3,548,11412,0.12,2.47,4.72,0.714,6,0.107,0.033,2533,2299,2038
$GC,11723,0.91,260.0,718.1,5.2,564,11794,0.12,0.00,66.03,1.039,6,0.054,0.000,2569,2299,1755
$GC,12111,0.91,260.0,678.8,8.8,583,12115,0.00,2.55,0.00,0.000,4,0.000,0.054,2569,901,1747
$GC,12240,0.91,260.0,667.0,10.0,589,12244,0.00,2.47,0.00,0.000,6,0.000,0.038,2569,2305,1745
$GC,12572,0.91,260.0,636.2,9.4,605,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2305,1745
$GC,12881,0.91,260.0,600.3,13.2,620,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2305,1744
$GC,13190,0.91,260.0,562.8,10.4,635,13195,0.00,2.55,0.00,0.000,4,0.000,0.048,2569,898,1744
$GC,13253,0.91,260.0,557.1,8.7,638,13257,0.00,2.47,0.00,0.000,6,0.000,0.037,2569,2304,1743
$GC,13579,0.91,260.0,531.8,7.6,654,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2304,1743
$GC,13888,0.91,260.0,504.9,9.7,669,13893,0.00,2.53,0.00,0.000,4,0.000,0.047,2569,898,1743
$GC,13929,0.91,260.0,501.0,9.8,671,13933,0.00,2.47,0.00,0.000,6,0.000,0.036,2569,2308,1743
$GC,14255,0.91,260.0,468.6,10.1,687,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2308,1743
$GC,14564,0.91,260.0,438.5,9.5,702,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2308,1743
$GC,14874,0.91,260.0,411.3,8.6,717,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2308,1743
$GC,15183,0.91,260.0,383.7,9.2,732,15184,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2308,1743
$GC,15492,0.91,260.0,354.8,9.6,747,15496,0.00,2.53,0.00,0.000,4,0.000,0.046,2569,898,1743
$GC,15542,0.91,260.0,349.7,10.8,749,15546,0.00,2.45,0.00,0.000,6,0.000,0.036,2569,2300,1743
$GC,15858,0.91,260.0,319.3,9.5,764,15859,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2300,1743
$GC,16167,0.91,260.0,292.6,8.0,779,16168,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2299,1743
$GC,16476,0.91,260.0,268.3,7.9,794,16480,0.00,2.50,0.00,0.000,4,0.000,0.045,2569,894,1744
$GC,16526,0.91,260.0,263.9,8.8,796,16531,0.00,2.47,0.00,0.000,6,0.000,0.035,2569,2309,1744
$GC,16847,0.91,260.0,236.7,8.3,812,16849,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2309,1744
$GC,17157,0.91,260.0,212.1,7.9,827,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2309,1744
$GC,17466,0.91,260.0,185.3,9.1,842,17467,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2309,1745
$GC,17775,0.91,260.0,158.8,8.4,857,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2309,1744
$GC,18085,0.91,260.0,132.9,8.6,872,18089,0.00,2.53,0.00,0.000,4,0.000,0.045,2569,895,1744
$GC,18130,0.95,260.0,128.7,8.5,874,18134,0.00,2.45,0.00,0.000,6,0.000,0.035,2569,2301,1744
$GC,18452,0.95,260.0,101.1,8.7,890,18453,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2301,1744
$GC,18761,0.95,260.0,73.3,8.7,905,18765,0.00,2.50,0.00,0.000,4,0.000,0.044,2569,895,1744
$GC,18805,1.00,260.0,69.3,9.2,907,18810,0.00,2.45,0.00,0.000,6,0.000,0.035,2569,2301,1744
$GC,19127,1.04,260.0,41.5,9.3,923,19132,0.00,2.60,0.00,0.000,4,0.000,0.061,2569,3710,1745
$GC,19168,1.04,260.0,37.6,9.0,925,19172,0.00,2.45,0.00,0.000,6,0.000,0.030,2569,2293,1745
$GC,19495,1.10,260.0,9.4,9.8,941,19500,0.15,2.47,0.00,0.000,4,0.054,0.044,2615,897,1745
$GC,19540,1.04,260.0,4.6,11.0,943,19545,0.15,2.45,0.00,0.000,6,0.089,0.035,2585,2305,1744
$STATE,19569,end climb,SURFACE_DEPTH_REACHED
$STATE,19570,begin surface coast
$FINISH,0.7,1.013996
$STATE,19591,end surface coast,CONTROL_FINISHED_OK
$STATE,19592,begin surface
$SM_CCo,19675,0.00,0.000,0,0,1743,263.45
$SM_GC,1.53,12.10,0.00,0.00,0.094,0.000,0.000,76,2614,1743,-10.47,0.40,263.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,39.5
$24V_AH,23.6,18.484
$10V_AH,10.1,8.732
$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,27.725,120.825,370.400,0.000,0.000,17.984,44.527,164.833,7.250,0.000,0.000,14.696,1699.042,15393.170,479.597,1940.281,510.768,0.000,1437.489,0.000,1897.846,0.000,50.820,0.000
$DEVICE_MAMPS,190.216,71.331,1110.616,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.844,653.532,544.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47356,946
$CAP_FILE_SIZE,132108,0
$CFSIZE,260165632,253317120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210609,175700,6241.845,-1231.785,39,1.1,44,-11.6