version: 66.04
glider: 16
mission: 13
dive: 94
start: 6 22 109 19 3 46
data:
$ID,16
$MISSION,13
$DIVE,94
$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,-2109306.2
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,185801,6249.178,-1259.828,40,1.9,40,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.8
$GPS2,190326,6249.165,-1259.824,13,1.5,13,-11.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$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,357.1,49491,-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,-60.78,0.000,6,0.000,0.000,75,2618,3416
$GC,80,-1.03,-146.6,5.8,-10.1,3,102,11.82,2.55,0.00,0.000,4,0.182,0.036,2132,1192,3417
$GC,216,-1.03,-146.6,28.4,-6.4,9,220,0.00,2.47,0.00,0.000,6,0.000,0.037,2132,2596,3418
$GC,542,-1.03,-146.6,58.3,-10.0,25,547,0.00,2.35,0.00,0.000,4,0.000,0.066,2132,3864,3419
$GC,587,-1.03,-146.6,63.3,-10.6,27,591,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2574,3419
$GC,914,-1.03,-146.6,94.7,-8.9,43,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2573,3419
$GC,1223,-1.03,-146.6,120.0,-8.3,58,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3419
$GC,1534,-1.03,-146.6,147.4,-9.2,73,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2572,3419
$GC,1842,-1.03,-146.6,175.8,-9.3,88,1846,0.00,2.38,0.00,0.000,4,0.000,0.066,2132,3861,3419
$GC,1894,-1.03,-146.6,180.9,-9.8,90,1897,0.00,2.15,0.00,0.000,6,0.000,0.028,2132,2593,3419
$GC,2221,-1.03,-146.6,210.6,-8.9,106,2225,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1204,3419
$GC,2260,-1.07,-146.6,214.2,-9.6,107,2266,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2600,3419
$GC,2576,-1.07,-146.6,243.7,-9.6,123,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,2884,-1.07,-146.6,272.4,-9.1,138,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3195,-1.07,-146.6,301.0,-9.4,153,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3503,-1.07,-146.6,329.8,-9.2,168,3507,0.00,2.45,0.00,0.000,4,0.000,0.041,2133,1208,3419
$GC,3547,-1.12,-146.6,333.9,-9.4,170,3551,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2603,3419
$GC,3869,-1.12,-146.6,363.3,-9.2,186,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3419
$GC,4177,-1.12,-146.6,392.1,-9.2,201,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4487,-1.12,-146.6,420.5,-9.1,216,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4796,-1.12,-146.6,447.5,-8.8,231,4801,0.00,2.45,0.00,0.000,4,0.000,0.042,2132,1212,3418
$GC,4863,-1.12,-146.6,453.5,-9.0,234,4867,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2608,3418
$GC,5185,-1.12,-146.6,482.7,-9.5,250,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,5494,-1.12,-146.6,511.1,-9.0,265,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3418
$GC,5803,-1.12,-146.6,538.6,-8.8,280,5807,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1206,3417
$GC,5853,-1.17,-146.6,543.2,-9.1,282,5858,0.12,2.45,0.00,0.000,6,0.046,0.038,2090,2601,3417
$GC,6174,-1.07,-146.6,580.1,-11.8,298,6176,0.17,0.00,0.00,0.000,6,0.097,0.000,2125,2601,3417
$GC,6483,-1.07,-146.6,609.6,-9.2,313,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3417
$GC,6792,-1.07,-146.6,637.2,-8.9,328,6796,0.00,2.45,0.00,0.000,4,0.000,0.042,2125,1207,3417
$GC,6848,-1.07,-146.6,642.2,-8.8,330,6854,0.00,2.45,0.00,0.000,6,0.000,0.039,2125,2601,3417
$GC,7164,-1.07,-146.6,668.7,-7.9,346,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2600,3416
$GC,7473,-1.07,-146.6,693.3,-8.0,361,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2602,3416
$GC,7783,-1.07,-146.6,717.9,-8.0,376,7787,0.00,2.45,0.00,0.000,4,0.000,0.044,2125,1212,3416
$GC,7890,-1.13,-146.6,726.1,-8.0,381,7894,0.00,2.45,0.00,0.000,6,0.000,0.042,2125,2598,3416
$STATE,8096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8096,begin apogee
$GC,8103,-0.31,0.0,743.5,7.7,391,8238,0.82,0.00,129.10,1.043,6,0.108,0.000,2289,2302,2817
$STATE,8239,end apogee,CONTROL_FINISHED_OK
$STATE,8239,begin climb
$GC,8242,1.03,146.6,747.4,0.0,398,8382,1.40,2.72,131.43,1.032,4,0.077,0.070,2581,3704,2218
$GC,8444,0.90,173.3,740.8,6.6,407,8475,0.12,2.47,24.50,0.975,6,0.100,0.034,2557,2311,2109
$GC,8804,0.90,173.3,713.7,8.3,425,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2311,2104
$GC,9112,0.85,177.9,690.3,7.3,440,9121,0.00,2.60,4.22,0.640,4,0.000,0.054,2557,898,2091
$GC,9224,0.79,177.9,681.4,7.7,445,9229,0.12,2.50,0.00,0.000,6,0.100,0.040,2534,2308,2090
$GC,9552,0.82,197.3,660.9,6.8,461,9576,0.00,2.70,18.95,0.940,4,0.000,0.068,2534,3693,2011
$GC,9678,0.82,197.3,650.4,8.7,466,9684,0.00,2.45,0.00,0.000,6,0.000,0.033,2534,2293,2010
$GC,9995,0.87,197.3,626.1,7.6,482,9999,0.00,2.55,0.00,0.000,4,0.000,0.053,2534,891,2008
$GC,10067,0.91,197.3,620.5,7.6,485,10072,0.12,2.50,0.00,0.000,6,0.053,0.037,2571,2305,2006
$GC,10383,0.87,197.3,594.1,8.5,500,10385,0.12,0.00,0.00,0.000,6,0.094,0.000,2547,2305,2006
$GC,10692,0.88,210.2,571.0,7.1,515,10714,0.00,2.70,12.25,0.850,4,0.000,0.064,2547,3702,1960
$GC,10747,0.88,210.2,566.6,8.2,517,10752,0.00,2.47,0.00,0.000,6,0.000,0.031,2547,2291,1959
$GC,11064,0.93,217.3,543.8,7.3,532,11078,0.00,2.58,8.12,0.776,4,0.000,0.049,2546,898,1930
$GC,11112,0.93,217.3,540.1,8.6,534,11117,0.00,2.47,0.00,0.000,6,0.000,0.035,2547,2302,1929
$GC,11433,0.93,217.3,515.9,7.8,550,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2302,1929
$GC,11743,0.98,217.3,490.2,8.4,565,11745,0.12,0.00,0.00,0.000,6,0.051,0.000,2586,2302,1929
$GC,12052,0.93,217.3,461.5,9.1,580,12057,0.12,2.60,0.00,0.000,4,0.098,0.062,2563,3705,1929
$GC,12092,0.93,217.3,457.8,9.4,582,12096,0.00,2.45,0.00,0.000,6,0.000,0.030,2562,2295,1929
$GC,12418,0.93,217.3,432.2,8.1,598,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1929
$GC,12727,0.93,217.3,408.1,7.9,613,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2295,1929
$GC,13036,0.93,217.3,384.1,7.6,628,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2296,1929
$GC,13346,0.93,217.3,358.9,8.3,643,13350,0.00,2.60,0.00,0.000,4,0.000,0.061,2562,3702,1929
$GC,13395,0.93,217.3,354.1,9.9,645,13399,0.00,2.42,0.00,0.000,6,0.000,0.030,2562,2300,1929
$GC,13711,0.93,217.3,328.5,8.0,660,13715,0.00,2.50,0.00,0.000,4,0.000,0.048,2561,895,1929
$GC,13750,0.93,217.3,325.4,7.8,661,13756,0.00,2.45,0.00,0.000,6,0.000,0.035,2562,2302,1929
$GC,14065,0.93,217.3,301.1,7.6,677,14070,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3704,1929
$GC,14105,0.93,217.3,297.8,8.3,679,14109,0.00,2.42,0.00,0.000,6,0.000,0.030,2562,2298,1929
$GC,14431,0.93,217.3,273.2,7.6,695,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2298,1929
$GC,14740,0.93,217.3,248.4,8.0,710,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2297,1929
$GC,15050,0.93,217.3,224.0,7.8,725,15054,0.00,2.50,0.00,0.000,4,0.000,0.045,2562,893,1929
$GC,15090,0.93,217.3,220.9,8.1,727,15094,0.00,2.45,0.00,0.000,6,0.000,0.035,2562,2302,1929
$GC,15416,0.93,217.3,195.0,7.9,743,15421,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3704,1930
$GC,15461,0.93,217.3,191.1,8.6,745,15465,0.00,2.42,0.00,0.000,6,0.000,0.030,2562,2300,1930
$GC,15783,0.93,217.3,164.6,8.4,761,15784,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2299,1931
$GC,16092,0.93,217.3,137.5,8.7,776,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2299,1930
$GC,16401,0.93,217.3,112.6,7.6,791,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2299,1930
$GC,16712,0.96,247.2,91.8,6.5,806,16742,0.00,0.00,27.60,0.601,6,0.000,0.000,2562,2299,1809
$GC,17041,1.01,247.2,64.0,9.0,822,17042,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2299,1805
$GC,17349,1.09,260.7,41.1,7.0,837,17369,0.15,0.00,12.50,0.536,6,0.044,0.000,2607,2299,1753
$GC,17680,1.03,260.7,12.7,8.9,853,17685,0.12,2.50,0.00,0.000,4,0.091,0.045,2583,898,1750
$GC,17744,1.08,260.7,7.5,8.1,856,17749,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2304,1748
$STATE,17801,end climb,SURFACE_DEPTH_REACHED
$STATE,17801,begin surface coast
$FINISH,0.8,1.026655
$STATE,17823,end surface coast,CONTROL_FINISHED_OK
$STATE,17823,begin surface
$SM_CCo,17906,0.00,0.000,0,0,1745,262.96
$SM_GC,1.71,11.68,0.00,0.00,0.074,0.000,0.000,73,2612,1745,-10.46,0.34,262.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1737
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,26.8
$24V_AH,23.6,19.186
$10V_AH,10.1,9.185
$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,27.050,110.100,368.675,0.000,0.000,18.133,35.111,154.898,6.500,0.000,0.000,13.413,1545.358,13955.549,479.471,1782.603,470.474,0.000,1359.946,0.000,1742.894,0.000,45.920,0.000
$DEVICE_MAMPS,181.779,69.797,1043.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.999,590.474,523.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44352,860
$CAP_FILE_SIZE,120057,0
$CFSIZE,260165632,252997632
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230609,000331,6252.343,-1258.689,43,1.0,43,-11.9