version: 66.04
glider: 16
mission: 13
dive: 93
start: 6 22 109 13 57 12
data:
$ID,16
$MISSION,13
$DIVE,93
$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,-2109292
$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,33
$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
$GPS1,135207,6249.214,-1251.027,44,1.5,44,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.4
$GPS2,135655,6249.194,-1250.986,10,1.5,15,-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,289.0,11943,-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,16,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.88,0.000,6,0.000,0.000,76,2607,3415
$GC,80,-1.03,-146.6,7.2,-13.6,3,94,12.05,0.00,0.00,0.000,6,0.189,0.000,2130,2607,3416
$GC,412,-1.03,-146.6,50.9,-9.4,19,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3417
$GC,721,-1.03,-146.6,80.9,-9.7,34,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3418
$GC,1031,-1.03,-146.6,110.3,-9.5,49,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2607,3418
$GC,1340,-1.03,-146.6,139.9,-9.3,64,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3418
$GC,1649,-1.03,-146.6,169.3,-9.6,79,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3418
$GC,1958,-1.03,-146.6,197.8,-9.2,94,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2607,3418
$GC,2268,-1.03,-146.6,225.8,-8.8,109,2272,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1192,3419
$GC,2318,-1.03,-146.6,230.0,-8.3,111,2322,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2590,3418
$GC,2633,-1.03,-146.6,256.3,-8.4,126,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2591,3418
$GC,2943,-1.03,-146.6,282.9,-8.6,141,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3418
$GC,3252,-1.03,-146.6,309.8,-8.7,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3417
$GC,3561,-1.03,-146.6,338.1,-9.2,171,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3417
$GC,3870,-1.03,-146.6,366.1,-9.0,186,3875,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1188,3417
$GC,3915,-1.07,-146.6,370.1,-8.5,188,3920,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3417
$GC,4236,-1.07,-146.6,396.8,-8.3,204,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4546,-1.07,-146.6,423.5,-8.9,219,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4855,-1.07,-146.6,450.0,-8.6,234,4860,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1185,3416
$GC,4901,-1.12,-146.6,453.8,-8.6,236,4905,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2603,3417
$GC,5227,-1.12,-146.6,483.1,-9.1,252,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3416
$GC,5536,-1.12,-146.6,511.2,-9.2,267,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3416
$GC,5846,-1.12,-146.6,538.7,-8.9,282,5850,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1187,3416
$GC,5890,-1.17,-146.6,542.8,-8.6,284,5895,0.12,2.50,0.00,0.000,6,0.047,0.038,2091,2609,3416
$GC,6214,-1.06,-146.6,576.7,-10.4,300,6215,0.17,0.00,0.00,0.000,6,0.097,0.000,2124,2610,3416
$GC,6520,-1.06,-146.6,604.9,-9.6,315,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3416
$GC,6829,-1.06,-146.6,634.1,-9.4,330,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2610,3416
$GC,7138,-1.06,-146.6,661.3,-8.5,345,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2610,3416
$GC,7448,-1.06,-146.6,686.9,-8.3,360,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3416
$GC,7757,-1.06,-146.6,712.4,-7.8,375,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3415
$GC,8066,-1.06,-146.6,740.8,-9.8,390,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3415
$STATE,8146,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8146,begin apogee
$GC,8153,-0.31,0.0,747.6,8.2,394,8290,0.85,0.00,128.98,1.048,6,0.124,0.000,2288,2290,2816
$STATE,8290,end apogee,CONTROL_FINISHED_OK
$STATE,8290,begin climb
$GC,8293,1.03,146.6,753.7,0.0,401,8433,1.40,2.60,131.07,1.036,4,0.069,0.052,2584,903,2217
$GC,8517,0.91,147.8,745.7,7.5,411,8524,0.15,2.53,0.00,0.000,6,0.097,0.040,2557,2308,2213
$GC,8834,0.84,156.1,723.1,7.2,427,8844,0.00,0.00,8.45,0.848,6,0.000,0.000,2557,2308,2180
$GC,9143,0.81,185.8,701.4,6.5,442,9178,0.00,2.75,27.98,0.979,4,0.000,0.071,2557,3701,2059
$GC,9258,0.73,185.8,692.4,8.9,447,9263,0.20,2.47,0.00,0.000,6,0.098,0.034,2519,2306,2057
$GC,9579,0.86,231.6,673.2,5.9,463,9628,0.12,2.70,42.65,0.985,4,0.053,0.068,2555,3707,1873
$GC,9667,0.86,231.6,666.4,9.2,467,9672,0.00,2.47,0.00,0.000,6,0.000,0.033,2555,2301,1871
$GC,9989,0.86,234.8,642.0,7.4,483,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2300,1867
$GC,10298,0.86,236.4,618.8,7.4,498,10305,0.00,0.00,4.90,0.680,6,0.000,0.000,2555,2301,1853
$GC,10607,0.86,236.4,594.2,8.4,513,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2300,1852
$GC,10916,0.86,236.4,569.1,7.9,528,10921,0.00,2.62,0.00,0.000,4,0.000,0.064,2553,3705,1851
$GC,10966,0.86,236.4,564.6,9.4,530,10970,0.00,2.45,0.00,0.000,6,0.000,0.031,2555,2293,1851
$GC,11282,0.86,237.8,539.7,7.5,545,11283,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2293,1850
$GC,11591,0.90,237.8,515.4,8.0,560,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2293,1850
$GC,11900,0.90,237.8,490.2,7.6,575,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2293,1850
$GC,12210,0.95,237.8,464.8,8.5,590,12214,0.00,2.62,0.00,0.000,4,0.000,0.062,2555,3708,1850
$GC,12249,0.95,237.8,461.1,8.9,592,12253,0.00,2.45,0.00,0.000,6,0.000,0.031,2554,2299,1850
$GC,12576,0.99,237.8,434.0,8.0,608,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2299,1850
$GC,12885,1.04,237.8,409.7,7.6,623,12887,0.15,0.00,0.00,0.000,6,0.054,0.000,2591,2298,1850
$GC,13194,0.98,237.8,381.3,9.3,638,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2298,1850
$GC,13503,0.92,237.8,352.3,9.4,653,13505,0.17,0.00,0.00,0.000,6,0.091,0.000,2557,2297,1850
$GC,13812,0.96,237.8,328.5,7.6,668,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2297,1850
$GC,14122,1.02,238.5,305.5,7.5,683,14124,0.12,0.00,0.00,0.000,6,0.048,0.000,2594,2298,1850
$GC,14431,0.95,238.5,277.5,9.0,698,14433,0.15,0.00,0.00,0.000,6,0.092,0.000,2566,2298,1850
$GC,14740,0.95,238.5,252.9,7.7,713,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2298,1851
$GC,15049,0.95,238.5,229.4,7.8,728,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2297,1851
$GC,15359,0.95,238.5,204.8,8.1,743,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2298,1851
$GC,15668,0.95,243.0,181.6,7.3,758,15682,0.00,2.65,7.53,0.571,4,0.000,0.060,2566,3704,1826
$GC,15716,0.95,243.0,177.6,9.3,760,15721,0.00,2.45,0.00,0.000,6,0.000,0.030,2566,2293,1826
$GC,16037,0.95,243.0,152.9,7.6,776,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2293,1825
$GC,16347,0.95,243.0,129.0,7.8,791,16348,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2293,1825
$GC,16656,0.98,263.5,106.7,6.8,806,16677,0.00,0.00,19.23,0.601,6,0.000,0.000,2566,2293,1742
$GC,16987,1.05,288.5,84.4,6.6,822,17013,0.10,0.00,23.02,0.590,6,0.051,0.000,2598,2293,1640
$GC,17316,1.05,288.5,55.4,9.0,838,17317,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2293,1634
$GC,17624,1.05,288.5,25.7,10.1,853,17625,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2293,1634
$STATE,17868,end climb,SURFACE_DEPTH_REACHED
$STATE,17868,begin surface coast
$FINISH,0.7,1.026696
$STATE,17890,end surface coast,CONTROL_FINISHED_OK
$STATE,17890,begin surface
$SM_CCo,17973,0.00,0.000,0,0,1629,291.42
$SM_GC,1.76,11.93,0.00,0.00,0.083,0.000,0.000,77,2617,1629,-10.45,0.48,291.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1738
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.2,30.2
$24V_AH,23.6,19.073
$10V_AH,10.1,9.107
$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,27.700,51.750,393.800,0.000,0.000,18.356,29.008,131.048,6.500,0.000,0.000,15.168,1492.145,14298.268,465.878,1597.825,406.854,0.000,1235.417,0.000,1565.485,0.000,45.936,0.000
$DEVICE_MAMPS,189.449,71.331,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.218,594.616,516.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44307,866
$CAP_FILE_SIZE,105928,0
$CFSIZE,260165632,253067264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220609,185801,6249.178,-1259.828,40,1.9,40,-11.9