version: 66.04
glider: 16
mission: 13
dive: 89
start: 6 21 109 18 2 57
data:
$ID,16
$MISSION,13
$DIVE,89
$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,-2109209.5
$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,36
$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
$GPS1,175700,6241.845,-1231.785,39,1.1,44,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.4
$GPS2,180238,6241.875,-1231.764,14,1.3,14,-11.6
$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,309.8,31878,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-56.55,0.000,6,0.000,0.000,75,2613,3415
$GC,80,-1.03,-146.6,7.4,-13.7,3,102,12.05,2.58,0.00,0.000,4,0.189,0.038,2132,1185,3415
$GC,158,-1.08,-146.6,27.2,-9.1,6,163,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2586,3416
$GC,474,-1.08,-146.6,62.4,-11.3,21,478,0.00,2.38,0.00,0.000,4,0.000,0.067,2132,3863,3417
$GC,530,-1.08,-146.6,68.8,-11.6,23,536,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2580,3417
$GC,846,-1.08,-146.6,98.3,-9.6,39,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2580,3417
$GC,1157,-1.08,-146.6,129.2,-10.3,54,1161,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1205,3418
$GC,1196,-1.08,-146.6,133.4,-10.5,56,1200,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2609,3418
$GC,1523,-1.08,-146.6,165.2,-9.1,72,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3417
$GC,1832,-1.08,-146.6,192.7,-9.3,87,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,2141,-1.08,-146.6,221.1,-8.8,102,2146,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1206,3418
$GC,2208,-1.08,-146.6,226.6,-7.9,105,2213,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2600,3418
$GC,2530,-1.08,-146.6,253.1,-8.1,121,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,2839,-1.08,-146.6,280.3,-9.4,136,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3417
$GC,3149,-1.08,-146.6,310.3,-9.6,151,3153,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1211,3417
$GC,3199,-1.13,-146.6,315.2,-9.5,153,3203,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2601,3417
$GC,3514,-1.13,-146.6,343.5,-8.5,168,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,3824,-1.13,-146.6,368.3,-7.9,183,3828,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1210,3417
$GC,3863,-1.17,-146.6,371.3,-7.6,185,3868,0.12,2.45,0.00,0.000,6,0.046,0.039,2093,2603,3417
$GC,4193,-1.05,-146.6,403.3,-10.0,201,4195,0.17,0.00,0.00,0.000,6,0.097,0.000,2126,2604,3416
$GC,4499,-1.05,-146.6,432.3,-9.6,216,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2604,3416
$GC,4809,-1.05,-146.6,462.1,-9.3,231,4812,0.00,2.45,0.00,0.000,4,0.000,0.042,2126,1211,3416
$GC,4887,-1.05,-146.6,469.5,-9.1,234,4891,0.00,2.45,0.00,0.000,6,0.000,0.039,2126,2602,3416
$GC,5202,-1.05,-146.6,498.5,-9.6,249,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2602,3416
$GC,5511,-1.05,-146.6,529.7,-10.4,264,5516,0.00,2.45,0.00,0.000,4,0.000,0.041,2126,1211,3416
$GC,5567,-1.05,-146.6,535.4,-10.2,266,5573,0.00,2.45,0.00,0.000,6,0.000,0.039,2126,2602,3415
$GC,5883,-1.05,-146.6,562.3,-8.2,282,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3416
$GC,6192,-1.05,-146.6,587.8,-8.3,297,6196,0.00,2.47,0.00,0.000,4,0.000,0.042,2126,1202,3416
$GC,6236,-1.10,-146.6,591.6,-8.7,299,6241,0.00,2.47,0.00,0.000,6,0.000,0.039,2126,2608,3416
$GC,6557,-1.10,-146.6,619.8,-9.1,315,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3416
$GC,6867,-1.10,-146.6,644.7,-7.4,330,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3415
$GC,7177,-1.10,-146.6,666.2,-7.3,345,7180,0.00,2.47,0.00,0.000,4,0.000,0.042,2125,1205,3415
$GC,7244,-1.10,-146.6,671.8,-8.9,348,7249,0.00,2.45,0.00,0.000,6,0.000,0.041,2126,2599,3415
$GC,7572,-1.10,-146.6,701.3,-8.8,364,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3415
$GC,7881,-1.10,-146.6,724.0,-6.8,379,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3415
$GC,8190,-1.10,-146.6,749.9,-8.3,394,8193,0.00,2.45,0.00,0.000,4,0.000,0.044,2125,1211,3414
$GC,8269,-1.15,-146.6,756.1,-7.4,397,8273,0.00,2.45,0.00,0.000,6,0.000,0.041,2125,2597,3414
$GC,8584,-1.15,-146.6,779.2,-8.2,412,8588,0.00,2.47,0.00,0.000,4,0.000,0.046,2125,1205,3413
$STATE,8609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8609,begin apogee
$GC,8618,-0.31,0.0,781.6,9.3,413,8754,0.77,0.00,129.82,1.079,6,0.101,0.000,2287,2302,2816
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8758,1.03,146.6,787.0,0.0,420,8895,1.40,0.00,132.43,1.070,6,0.071,0.000,2583,2302,2218
$GC,9204,0.91,146.6,761.5,8.5,442,9206,0.15,0.00,0.00,0.000,6,0.097,0.000,2555,2302,2212
$GC,9514,0.85,150.2,736.5,7.4,457,9518,0.00,2.53,0.00,0.000,4,0.000,0.052,2555,914,2210
$GC,9661,0.79,165.5,725.3,7.0,463,9684,0.12,2.45,16.73,0.965,6,0.103,0.040,2532,2300,2142
$GC,9993,0.82,189.9,703.8,6.7,479,10022,0.00,2.75,23.40,0.984,4,0.000,0.070,2532,3701,2042
$GC,10081,0.82,189.9,697.5,7.6,483,10085,0.00,2.42,0.00,0.000,6,0.000,0.033,2532,2317,2040
$GC,10408,0.92,239.8,676.7,5.8,499,10458,0.12,0.00,47.25,1.002,6,0.054,0.000,2568,2315,1839
$GC,10756,0.92,239.8,644.7,9.8,516,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2315,1833
$GC,11066,0.92,239.8,615.5,9.4,531,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2315,1831
$GC,11375,0.92,239.8,587.4,9.2,546,11379,0.00,2.58,0.00,0.000,4,0.000,0.051,2568,896,1830
$GC,11431,0.92,239.8,581.6,9.9,548,11435,0.00,2.47,0.00,0.000,6,0.000,0.037,2568,2302,1828
$GC,11747,0.92,239.8,550.8,9.2,563,11751,0.00,2.62,0.00,0.000,4,0.000,0.065,2568,3707,1829
$GC,11790,0.92,239.8,546.4,9.7,565,11795,0.00,2.45,0.00,0.000,6,0.000,0.031,2568,2299,1829
$GC,12112,0.92,239.8,518.4,9.4,581,12116,0.00,2.53,0.00,0.000,4,0.000,0.050,2568,902,1828
$GC,12156,0.92,239.8,513.5,11.6,583,12160,0.00,2.47,0.00,0.000,6,0.000,0.037,2568,2311,1827
$GC,12477,0.92,239.8,482.0,9.3,599,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2311,1828
$GC,12786,0.92,239.8,453.4,9.2,614,12790,0.00,2.58,0.00,0.000,4,0.000,0.064,2568,3701,1828
$GC,12830,0.92,239.8,449.2,9.3,616,12834,0.00,2.42,0.00,0.000,6,0.000,0.030,2568,2301,1828
$GC,13151,0.92,239.8,419.8,9.4,632,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2301,1829
$GC,13460,0.92,239.8,391.7,8.7,647,13464,0.00,2.53,0.00,0.000,4,0.000,0.048,2568,896,1829
$GC,13504,0.92,239.8,387.7,8.6,649,13508,0.00,2.45,0.00,0.000,6,0.000,0.035,2568,2299,1828
$GC,13825,0.92,239.8,360.1,8.8,665,13829,0.00,2.60,0.00,0.000,4,0.000,0.063,2568,3702,1829
$GC,13869,0.92,239.8,355.7,9.8,667,13873,0.00,2.42,0.00,0.000,6,0.000,0.031,2568,2299,1829
$GC,14189,0.92,239.8,327.2,8.9,683,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,14499,0.92,239.8,299.5,9.4,698,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,14808,0.92,239.8,270.1,9.4,713,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,15117,0.92,239.8,241.9,8.9,728,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,15427,0.92,239.8,215.6,8.4,743,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,15736,0.92,239.8,188.6,8.8,758,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,16045,0.92,239.8,161.9,8.4,773,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1829
$GC,16356,0.92,239.8,135.3,8.7,788,16361,0.00,2.60,0.00,0.000,4,0.000,0.061,2568,3705,1830
$GC,16397,0.92,239.8,131.6,8.7,790,16401,0.00,2.42,0.00,0.000,6,0.000,0.030,2568,2299,1830
$GC,16724,0.92,239.8,104.7,8.2,806,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1830
$GC,17033,0.92,239.8,79.8,8.0,821,17034,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1830
$GC,17343,0.92,239.8,54.5,8.4,836,17347,0.00,2.50,0.00,0.000,4,0.000,0.048,2568,899,1830
$GC,17383,0.96,239.8,50.8,8.8,838,17387,0.00,2.42,0.00,0.000,6,0.000,0.035,2568,2299,1829
$GC,17716,0.97,248.9,23.9,7.2,854,17726,0.00,0.00,7.97,0.509,6,0.000,0.000,2568,2299,1801
$STATE,18024,end climb,SURFACE_DEPTH_REACHED
$STATE,18024,begin surface coast
$FINISH,0.6,1.015884
$STATE,18065,end surface coast,CONTROL_FINISHED_OK
$STATE,18065,begin surface
$SM_CCo,18088,0.08,0.304,0,0,1795,250.21
$SM_GC,1.85,0.00,0.00,0.08,0.000,0.000,0.304,80,2609,1795,-10.49,0.25,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1742
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.7,65.6
$24V_AH,23.6,18.602
$10V_AH,10.1,8.810
$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,26.825,109.000,357.600,0.075,0.000,18.074,32.912,165.355,6.250,0.000,0.000,14.786,1551.838,14174.702,485.104,1740.141,476.357,0.000,1331.534,0.000,1703.260,0.000,45.051,0.000
$DEVICE_MAMPS,188.682,69.797,1079.169,303.732,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.524,605.841,514.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44353,871
$CAP_FILE_SIZE,118121,0
$CFSIZE,260165632,253280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210609,230537,6245.028,-1236.299,32,1.4,32,-11.7