version: 66.04
glider: 16
mission: 13
dive: 92
start: 6 22 109 9 2 24
data:
$ID,16
$MISSION,13
$DIVE,92
$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,-2109276
$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,32
$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
$GPS1,085707,6249.564,-1245.912,32,0.8,32,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.3
$GPS2,090207,6249.600,-1245.807,13,1.9,13,-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,284.4,16246,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-55.28,0.000,6,0.000,0.000,71,2598,3417
$GC,82,-1.03,-146.6,7.6,-13.8,3,99,12.10,0.00,0.00,0.000,6,0.186,0.000,2128,2598,3418
$GC,411,-1.03,-146.6,54.1,-9.3,19,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3419
$GC,718,-1.03,-146.6,83.2,-9.7,34,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3419
$GC,1028,-1.03,-146.6,113.1,-9.5,49,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3419
$GC,1337,-1.03,-146.6,142.2,-9.5,64,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2598,3420
$GC,1646,-1.03,-146.6,171.0,-9.0,79,1650,0.00,2.47,0.00,0.000,4,0.000,0.040,2128,1193,3420
$GC,1686,-1.03,-146.6,174.7,-9.3,81,1693,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2599,3420
$GC,2020,-1.03,-146.6,205.8,-9.6,97,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3420
$GC,2330,-1.03,-146.6,235.8,-9.5,112,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3420
$GC,2639,-1.03,-146.6,265.3,-9.4,127,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,2948,-1.03,-146.6,293.8,-9.0,142,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,3258,-1.03,-146.6,321.8,-9.2,157,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,3567,-1.03,-146.6,349.9,-9.0,172,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2599,3419
$GC,3876,-1.03,-146.6,378.5,-9.2,187,3880,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1193,3419
$GC,3916,-1.03,-146.6,382.2,-9.4,189,3920,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2601,3419
$GC,4242,-1.03,-146.6,411.4,-9.1,205,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3419
$GC,4551,-1.03,-146.6,440.2,-9.6,220,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3418
$GC,4860,-1.03,-146.6,469.8,-9.5,235,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3418
$GC,5170,-1.03,-146.6,498.1,-8.9,250,5174,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1185,3419
$GC,5225,-1.03,-146.6,503.0,-9.1,252,5231,0.00,2.50,0.00,0.000,6,0.000,0.039,2128,2608,3418
$GC,5540,-1.03,-146.6,529.9,-8.5,268,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3418
$GC,5849,-1.03,-146.6,556.5,-8.7,283,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3418
$GC,6159,-1.03,-146.6,584.2,-9.1,298,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3418
$GC,6468,-1.03,-146.6,611.5,-8.3,313,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3418
$GC,6777,-1.03,-146.6,637.7,-8.5,328,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3418
$GC,7087,-1.03,-146.6,664.9,-8.5,343,7091,0.00,2.53,0.00,0.000,4,0.000,0.045,2128,1187,3417
$GC,7137,-1.08,-146.6,669.2,-8.6,345,7141,0.00,2.50,0.00,0.000,6,0.000,0.041,2128,2601,3418
$GC,7452,-1.08,-146.6,694.5,-8.1,360,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3417
$GC,7762,-1.12,-146.6,719.6,-8.3,375,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3416
$STATE,7800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7800,begin apogee
$GC,7807,-0.31,0.0,723.0,7.9,377,7943,0.82,0.00,129.40,1.048,6,0.118,0.000,2290,2291,2816
$STATE,7943,end apogee,CONTROL_FINISHED_OK
$STATE,7944,begin climb
$GC,7946,1.03,146.6,729.3,0.0,384,8082,1.38,0.00,131.27,1.037,6,0.076,0.000,2579,2291,2220
$GC,8381,0.94,149.8,711.9,7.4,405,8386,0.00,2.55,0.00,0.000,4,0.000,0.054,2580,902,2211
$GC,8415,0.85,151.8,708.8,7.4,406,8426,0.17,2.50,4.57,0.677,6,0.091,0.040,2546,2304,2198
$GC,8755,0.87,173.7,685.3,6.8,423,8784,0.00,2.72,21.60,0.964,4,0.000,0.072,2546,3704,2108
$GC,8869,0.82,173.7,676.4,8.9,428,8874,0.00,2.47,0.00,0.000,6,0.000,0.035,2546,2309,2106
$GC,9191,0.82,175.8,652.3,7.4,444,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2309,2103
$GC,9500,0.85,203.6,630.9,6.5,459,9530,0.00,0.00,27.83,0.959,6,0.000,0.000,2546,2309,1986
$GC,9829,0.87,222.6,608.8,6.9,475,9850,0.00,0.00,18.42,0.922,6,0.000,0.000,2546,2309,1909
$GC,10160,0.89,238.1,585.2,7.0,491,10178,0.00,0.00,15.35,0.892,6,0.000,0.000,2546,2309,1845
$GC,10488,0.95,238.1,561.2,7.6,507,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2308,1841
$GC,10797,1.01,238.1,536.6,7.7,522,10802,0.15,2.60,0.00,0.000,4,0.048,0.064,2586,3701,1841
$GC,10883,0.91,238.1,528.2,10.5,526,10888,0.15,2.45,0.00,0.000,6,0.097,0.031,2556,2295,1841
$GC,11209,0.91,238.1,501.4,8.1,542,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2295,1840
$GC,11519,0.91,238.1,476.6,7.9,557,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2295,1840
$GC,11828,0.91,238.1,452.4,7.9,572,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2295,1840
$GC,12137,0.91,238.1,427.6,8.1,587,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2295,1840
$GC,12447,0.91,238.1,402.3,8.1,602,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2295,1840
$GC,12756,0.91,238.1,376.5,8.2,617,12760,0.00,2.60,0.00,0.000,4,0.000,0.062,2556,3702,1841
$GC,12795,0.91,238.1,372.9,9.2,619,12799,0.00,2.42,0.00,0.000,6,0.000,0.030,2556,2297,1840
$GC,13127,0.95,238.1,346.1,8.0,635,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2296,1840
$GC,13436,1.01,238.1,321.8,7.9,650,13438,0.10,0.00,0.00,0.000,6,0.053,0.000,2588,2295,1841
$GC,13746,0.96,238.1,293.5,9.5,665,13747,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2295,1841
$GC,14055,0.92,238.1,264.7,9.2,680,14057,0.15,0.00,0.00,0.000,6,0.090,0.000,2558,2295,1841
$GC,14364,0.97,245.3,241.6,7.3,695,14373,0.00,0.00,7.32,0.611,6,0.000,0.000,2558,2295,1816
$GC,14673,1.02,245.3,217.4,8.0,710,14675,0.12,0.00,0.00,0.000,6,0.048,0.000,2597,2295,1816
$GC,14983,0.96,245.3,186.4,10.4,725,14984,0.15,0.00,0.00,0.000,6,0.091,0.000,2568,2295,1816
$GC,15291,0.96,245.3,160.1,8.4,740,15292,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,1816
$GC,15602,0.96,245.3,134.3,8.7,755,15603,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2295,1816
$GC,15910,0.96,245.3,107.8,8.2,770,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2296,1816
$GC,16220,0.96,245.3,82.8,8.4,785,16224,0.00,2.60,0.00,0.000,4,0.000,0.060,2568,3708,1816
$GC,16269,0.96,245.3,78.1,8.9,787,16274,0.00,2.45,0.00,0.000,6,0.000,0.030,2568,2294,1816
$GC,16585,0.96,245.3,53.4,8.2,802,16590,0.00,2.50,0.00,0.000,4,0.000,0.048,2568,895,1816
$GC,16652,0.99,267.2,48.0,6.8,805,16678,0.00,2.45,20.50,0.580,6,0.000,0.035,2568,2304,1727
$GC,16997,1.05,267.2,19.6,8.6,822,16998,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2304,1723
$STATE,17199,end climb,SURFACE_DEPTH_REACHED
$STATE,17199,begin surface coast
$FINISH,1.1,1.026657
$STATE,17220,end surface coast,CONTROL_FINISHED_OK
$STATE,17220,begin surface
$SM_CCo,17303,0.00,0.000,0,0,1720,269.09
$SM_GC,1.47,11.88,0.00,0.00,0.087,0.000,0.000,77,2607,1720,-10.45,0.17,269.09
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1720
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.1,55.3
$24V_AH,23.6,18.955
$10V_AH,10.1,9.032
$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,27.175,51.275,376.275,0.000,0.000,18.124,28.077,140.452,6.000,0.000,0.000,13.924,1438.149,13744.218,473.323,1528.128,417.830,0.000,1202.111,0.000,1500.589,0.000,42.797,0.000
$DEVICE_MAMPS,185.614,72.098,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.025,574.953,499.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41119,833
$CAP_FILE_SIZE,101938,0
$CFSIZE,260165632,253124608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220609,135207,6249.214,-1251.027,44,1.5,44,-11.8