version: 66.04
glider: 16
mission: 13
dive: 91
start: 6 22 109 4 3 17
data:
$ID,16
$MISSION,13
$DIVE,91
$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,-2109261.2
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,035657,6246.635,-1243.385,38,3.9,57,-11.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-60.3
$GPS2,040301,6246.649,-1243.355,12,1.6,17,-11.8
$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,300.5,19326,-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,-57.25,0.000,6,0.000,0.000,68,2607,3416
$GC,80,-1.03,-146.6,7.4,-14.1,3,97,12.10,0.00,0.00,0.000,6,0.186,0.000,2126,2607,3417
$GC,409,-0.98,-146.6,54.2,-9.9,19,413,0.00,2.33,0.00,0.000,4,0.000,0.067,2126,3858,3418
$GC,505,-0.93,-146.6,64.7,-10.3,23,509,0.15,2.17,0.00,0.000,6,0.104,0.028,2155,2579,3418
$GC,823,-0.98,-146.6,87.7,-6.7,38,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2577,3419
$GC,1131,-1.03,-146.6,109.6,-7.3,53,1135,0.00,2.42,0.00,0.000,4,0.000,0.041,2154,1202,3419
$GC,1172,-1.12,-146.6,112.5,-6.8,55,1177,0.17,2.45,0.00,0.000,6,0.041,0.038,2101,2596,3419
$GC,1499,-1.02,-146.6,145.8,-10.3,71,1501,0.17,0.00,0.00,0.000,6,0.097,0.000,2133,2597,3419
$GC,1808,-1.02,-146.6,173.2,-9.0,86,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2597,3419
$GC,2118,-1.02,-146.6,201.5,-9.5,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2597,3419
$GC,2427,-1.02,-146.6,229.6,-9.2,116,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2597,3419
$GC,2736,-1.02,-146.6,257.9,-9.1,131,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2597,3418
$GC,3045,-1.02,-146.6,286.4,-9.1,146,3050,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1206,3418
$GC,3090,-1.07,-146.6,290.6,-9.5,148,3094,0.00,2.45,0.00,0.000,6,0.000,0.038,2134,2601,3418
$GC,3411,-1.07,-146.6,320.5,-9.0,164,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2601,3418
$GC,3720,-1.07,-146.6,346.8,-8.4,179,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2602,3418
$GC,4029,-1.07,-146.6,372.9,-8.5,194,4033,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1211,3417
$GC,4075,-1.12,-146.6,376.7,-8.5,196,4079,0.00,2.45,0.00,0.000,6,0.000,0.038,2134,2603,3418
$GC,4395,-1.12,-146.6,404.0,-8.2,212,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2604,3418
$GC,4704,-1.12,-146.6,430.8,-8.8,227,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2604,3418
$GC,5014,-1.12,-146.6,456.6,-8.0,242,5018,0.00,2.45,0.00,0.000,4,0.000,0.041,2134,1211,3418
$GC,5054,-1.17,-146.6,459.4,-7.5,244,5059,0.12,2.45,0.00,0.000,6,0.050,0.039,2094,2605,3418
$GC,5381,-1.07,-146.6,492.9,-10.5,260,5383,0.15,0.00,0.00,0.000,6,0.097,0.000,2123,2605,3418
$GC,5690,-1.07,-146.6,517.6,-7.9,275,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3418
$GC,5999,-1.07,-146.6,543.8,-8.6,290,6003,0.00,2.45,0.00,0.000,4,0.000,0.041,2123,1211,3418
$GC,6038,-1.07,-146.6,547.0,-8.2,292,6042,0.00,2.45,0.00,0.000,6,0.000,0.039,2123,2605,3418
$GC,6365,-1.07,-146.6,575.1,-9.3,308,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3417
$GC,6673,-1.07,-146.6,604.6,-9.6,323,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2605,3417
$GC,6983,-1.07,-146.6,631.5,-8.6,338,6987,0.00,2.47,0.00,0.000,4,0.000,0.044,2123,1206,3417
$GC,7068,-1.07,-146.6,639.0,-9.2,342,7072,0.00,2.47,0.00,0.000,6,0.000,0.041,2122,2608,3416
$GC,7394,-1.07,-146.6,668.0,-9.2,358,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2608,3416
$GC,7704,-1.07,-146.6,692.5,-7.5,373,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2608,3416
$GC,8013,-1.07,-146.6,717.5,-8.1,388,8017,0.00,2.47,0.00,0.000,4,0.000,0.045,2123,1212,3416
$GC,8085,-1.07,-146.6,723.4,-8.1,391,8089,0.00,2.47,0.00,0.000,6,0.000,0.043,2123,2606,3415
$STATE,8171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8171,begin apogee
$GC,8178,-0.31,0.0,731.0,8.7,395,8314,0.82,0.00,129.27,1.048,6,0.105,0.000,2288,2308,2816
$STATE,8315,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin climb
$GC,8318,1.03,146.6,735.5,0.0,402,8458,1.40,2.60,130.85,1.038,4,0.072,0.050,2583,908,2218
$GC,8582,0.91,146.6,724.5,7.8,414,8587,0.12,2.50,0.00,0.000,6,0.091,0.040,2560,2302,2212
$GC,8898,0.82,150.1,702.0,7.4,429,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2302,2210
$GC,9207,0.76,159.4,680.3,7.2,444,9224,0.17,2.58,11.05,0.894,4,0.099,0.050,2523,908,2166
$GC,9293,0.84,180.6,674.7,6.8,447,9319,0.00,2.50,20.83,0.958,6,0.000,0.041,2523,2304,2080
$GC,9644,0.93,197.7,651.3,6.9,464,9666,0.17,2.75,16.25,0.930,4,0.050,0.069,2574,3702,2009
$GC,9770,0.81,197.7,639.2,10.1,469,9775,0.20,2.45,0.00,0.000,6,0.094,0.033,2535,2310,2008
$GC,10086,0.89,210.1,616.2,7.1,484,10107,0.00,2.67,12.20,0.884,4,0.000,0.053,2535,894,1958
$GC,10160,0.95,210.1,610.8,7.5,487,10165,0.15,2.50,0.00,0.000,6,0.051,0.038,2577,2302,1957
$GC,10481,0.90,210.1,583.0,8.6,503,10485,0.00,2.62,0.00,0.000,4,0.000,0.066,2577,3704,1956
$GC,10548,0.80,210.1,577.0,9.1,506,10553,0.22,2.47,0.00,0.000,6,0.096,0.031,2533,2292,1956
$GC,10869,0.92,249.0,556.2,6.2,522,10910,0.12,0.00,37.60,0.928,6,0.052,0.000,2570,2292,1801
$GC,11218,0.92,249.0,527.5,8.6,539,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,1794
$GC,11528,0.92,249.0,500.6,9.0,554,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,1794
$GC,11837,0.92,249.0,472.9,9.3,569,11838,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,1793
$GC,12146,0.92,249.0,444.5,9.1,584,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,1793
$GC,12455,0.92,249.0,416.3,8.7,599,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,1794
$GC,12764,0.92,249.0,390.0,8.4,614,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,1794
$GC,13074,0.92,249.0,364.7,8.2,629,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,1793
$GC,13383,0.92,249.0,339.4,8.3,644,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2292,1793
$GC,13692,0.92,249.0,313.7,8.3,659,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,1794
$GC,14001,0.92,249.0,287.6,8.6,674,14006,0.00,2.60,0.00,0.000,4,0.000,0.061,2569,3701,1793
$GC,14043,0.92,249.0,283.9,9.6,676,14048,0.00,2.42,0.00,0.000,6,0.000,0.031,2569,2299,1794
$GC,14370,0.92,249.0,255.9,8.3,692,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2299,1793
$GC,14679,0.92,249.0,230.6,8.2,707,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2299,1793
$GC,14989,0.92,249.0,205.3,8.3,722,14990,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2299,1794
$GC,15298,0.92,249.0,178.7,8.6,737,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2299,1794
$GC,15607,0.92,249.0,152.4,8.3,752,15611,0.00,2.50,0.00,0.000,4,0.000,0.048,2569,895,1794
$GC,15645,0.92,249.0,149.1,8.2,753,15652,0.00,2.45,0.00,0.000,6,0.000,0.035,2569,2302,1793
$GC,15963,0.92,249.0,123.3,8.1,769,15967,0.00,2.58,0.00,0.000,4,0.000,0.061,2569,3702,1794
$GC,16002,0.92,249.0,119.7,9.1,771,16007,0.00,2.42,0.00,0.000,6,0.000,0.030,2569,2297,1794
$GC,16330,0.92,249.0,92.5,8.4,787,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2296,1794
$GC,16639,0.92,249.0,66.2,8.7,802,16640,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2296,1794
$GC,16948,0.92,249.0,41.1,7.7,817,16952,0.00,2.47,0.00,0.000,4,0.000,0.046,2569,898,1794
$GC,17020,0.92,250.5,35.3,7.4,820,17025,0.00,2.45,0.00,0.000,6,0.000,0.035,2569,2305,1793
$GC,17337,0.98,250.5,11.5,8.0,835,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2305,1794
$STATE,17457,end climb,SURFACE_DEPTH_REACHED
$STATE,17457,begin surface coast
$FINISH,0.8,1.026657
$STATE,17479,end surface coast,CONTROL_FINISHED_OK
$STATE,17480,begin surface
$SM_CCo,17562,0.00,0.000,0,0,1790,251.68
$SM_GC,1.43,11.38,0.00,0.00,0.064,0.000,0.000,70,2597,1790,-10.47,-0.08,251.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.2,65.7
$24V_AH,23.6,18.840
$10V_AH,10.1,8.960
$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,27.650,85.400,358.050,0.000,0.000,33.577,37.677,174.014,5.750,0.000,0.000,19.320,1498.070,13794.781,452.419,1688.660,490.991,0.000,1275.335,0.000,1651.062,0.000,39.902,0.000
$DEVICE_MAMPS,185.614,69.030,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.797,577.181,513.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41113,842
$CAP_FILE_SIZE,115067,0
$CFSIZE,260165632,253161472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220609,085707,6249.564,-1245.912,32,0.8,32,-11.8