version: 66.04
glider: 16
mission: 13
dive: 97
start: 6 23 109 10 6 13
data:
$ID,16
$MISSION,13
$DIVE,97
$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,-2109356.8
$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,28
$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
$GPS1,095736,6257.695,-1301.757,29,1.4,29,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.7
$GPS2,100556,6257.721,-1301.659,16,1.1,16,-12.0
$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,352.8,33878,-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,-57.45,0.000,6,0.000,0.000,75,2601,3414
$GC,80,-1.03,-146.6,7.0,-13.3,3,102,11.75,2.55,0.00,0.000,4,0.179,0.038,2129,1184,3415
$GC,338,-1.03,-146.6,44.4,-9.4,14,342,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,2600,3416
$GC,655,-1.03,-146.6,72.2,-9.4,29,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3416
$GC,963,-1.03,-146.6,99.8,-9.0,44,967,0.00,2.35,0.00,0.000,4,0.000,0.067,2129,3864,3417
$GC,1003,-1.03,-146.6,103.7,-9.8,46,1008,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2582,3417
$GC,1331,-1.03,-146.6,135.3,-9.3,62,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3417
$GC,1640,-1.03,-146.6,163.8,-9.5,77,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2580,3417
$GC,1949,-1.03,-146.6,192.2,-9.0,92,1953,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1205,3417
$GC,1993,-1.03,-146.6,196.2,-9.2,94,1997,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2608,3417
$GC,2314,-1.03,-146.6,224.9,-9.1,110,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,2623,-1.03,-146.6,252.8,-9.2,125,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3417
$GC,2932,-1.03,-146.6,282.2,-9.6,140,2936,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1206,3417
$GC,2994,-1.03,-146.6,287.8,-9.1,143,2998,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2601,3417
$GC,3320,-1.03,-146.6,317.6,-9.1,159,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,3630,-1.03,-146.6,346.0,-9.2,174,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3416
$GC,3939,-1.03,-146.6,374.1,-9.1,189,3943,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1209,3416
$GC,3983,-1.03,-146.6,378.2,-8.7,191,3987,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2605,3416
$GC,4304,-1.03,-146.6,407.6,-9.3,207,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3416
$GC,4613,-1.03,-146.6,436.7,-9.5,222,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2605,3416
$GC,4922,-1.03,-146.6,466.1,-9.7,237,4926,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1211,3415
$GC,4967,-1.08,-146.6,470.4,-9.6,239,4971,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2605,3415
$GC,5288,-1.08,-146.6,500.0,-8.9,255,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3415
$GC,5598,-1.08,-146.6,525.8,-8.4,270,5602,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1210,3415
$GC,5642,-1.12,-146.6,529.5,-8.2,272,5646,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2605,3415
$GC,5963,-1.12,-146.6,555.3,-7.8,288,5967,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1202,3415
$GC,6007,-1.19,-146.6,559.2,-8.6,290,6012,0.15,2.47,0.00,0.000,6,0.044,0.039,2085,2609,3415
$GC,6329,-1.09,-146.6,591.4,-9.7,306,6331,0.20,0.00,0.00,0.000,6,0.094,0.000,2122,2609,3414
$GC,6638,-1.09,-146.6,614.0,-6.7,321,6642,0.00,2.47,0.00,0.000,4,0.000,0.042,2123,1211,3415
$GC,6727,-1.13,-146.6,620.4,-7.6,325,6732,0.00,2.45,0.00,0.000,6,0.000,0.041,2123,2599,3414
$GC,7049,-1.13,-146.6,644.6,-7.9,341,7053,0.00,2.45,0.00,0.000,4,0.000,0.043,2123,1210,3414
$GC,7137,-1.13,-146.6,652.9,-8.9,345,7141,0.00,2.45,0.00,0.000,6,0.000,0.041,2123,2600,3414
$GC,7459,-1.13,-146.6,678.6,-7.0,361,7464,0.00,2.40,0.00,0.000,4,0.000,0.084,2123,3863,3413
$GC,7718,-1.58,-146.6,682.8,0.0,372,7725,0.47,2.15,0.00,0.000,6,0.044,0.032,2010,2602,3412
$STATE,7742,end dive,NO_VERTICAL_VELOCITY
$STATE,7742,begin apogee
$GC,7750,-0.31,0.0,682.9,0.0,374,7885,1.30,0.00,127.15,1.010,6,0.071,0.000,2290,2313,2817
$STATE,7886,end apogee,CONTROL_FINISHED_OK
$STATE,7886,begin climb
$GC,7889,1.03,146.6,682.9,0.0,381,8027,1.33,2.70,130.18,0.996,4,0.057,0.065,2583,3707,2218
$GC,8143,0.96,254.8,673.0,3.8,392,8247,0.00,2.50,96.65,0.985,6,0.000,0.035,2584,2303,1777
$GC,8556,0.96,254.8,638.0,9.3,412,8561,0.00,2.60,0.00,0.000,4,0.000,0.057,2584,895,1767
$GC,8679,0.96,254.8,625.5,10.5,417,8686,0.00,2.53,0.00,0.000,6,0.000,0.039,2584,2309,1764
$GC,8995,0.96,254.8,594.1,9.5,433,8999,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,897,1764
$GC,9050,0.96,254.8,588.9,9.3,435,9057,0.00,2.50,0.00,0.000,6,0.000,0.038,2584,2305,1763
$GC,9366,0.96,254.8,555.9,11.3,451,9371,0.00,2.62,0.00,0.000,4,0.000,0.067,2584,3701,1763
$GC,9428,0.96,254.8,547.8,12.7,454,9433,0.00,2.45,0.00,0.000,6,0.000,0.032,2584,2298,1763
$GC,9755,0.96,254.8,512.7,9.6,470,9760,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,892,1762
$GC,9845,0.96,254.8,504.2,10.3,474,9849,0.00,2.50,0.00,0.000,6,0.000,0.036,2584,2308,1762
$GC,10166,0.96,254.8,474.7,9.9,490,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2309,1762
$GC,10475,0.96,254.8,443.2,10.2,505,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2309,1761
$GC,10784,0.96,254.8,411.8,10.0,520,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2309,1761
$GC,11093,0.96,254.8,382.0,9.4,535,11097,0.00,2.55,0.00,0.000,4,0.000,0.046,2584,891,1761
$GC,11133,0.96,254.8,378.3,9.7,537,11137,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2308,1762
$GC,11459,0.96,254.8,347.4,9.3,553,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2308,1762
$GC,11768,0.96,254.8,318.8,9.2,568,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2308,1761
$GC,12077,0.96,254.8,291.0,9.0,583,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2308,1762
$GC,12386,0.96,254.8,262.2,9.4,598,12391,0.00,2.55,0.00,0.000,4,0.000,0.045,2584,888,1762
$GC,12436,0.96,254.8,257.4,9.5,600,12441,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2304,1762
$GC,12752,0.96,254.8,228.0,9.5,615,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2304,1762
$GC,13061,0.96,254.8,201.4,8.3,630,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2304,1762
$GC,13370,0.96,254.8,176.5,8.3,645,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2304,1762
$GC,13680,0.96,254.8,148.5,9.9,660,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2305,1762
$GC,13989,0.96,254.8,117.2,10.5,675,13994,0.00,2.53,0.00,0.000,4,0.000,0.044,2584,892,1762
$GC,14034,0.96,254.8,112.4,11.0,677,14038,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2301,1762
$GC,14355,0.96,254.8,81.6,8.6,693,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2301,1762
$GC,14666,0.96,254.8,55.1,8.8,708,14670,0.00,2.53,0.00,0.000,4,0.000,0.044,2584,888,1763
$GC,14721,0.96,254.8,49.4,9.7,710,14727,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2304,1762
$GC,15038,0.96,254.8,19.1,9.5,726,15043,0.00,2.58,0.00,0.000,4,0.000,0.060,2583,3705,1763
$GC,15103,0.96,254.8,12.9,10.3,729,15107,0.00,2.45,0.00,0.000,6,0.000,0.029,2584,2287,1764
$STATE,15220,end climb,SURFACE_DEPTH_REACHED
$STATE,15220,begin surface coast
$FINISH,0.7,1.015258
$STATE,15242,end surface coast,CONTROL_FINISHED_OK
$STATE,15242,begin surface
$SM_CCo,15326,0.00,0.000,0,0,1761,259.04
$SM_GC,1.71,11.80,0.00,0.00,0.081,0.000,0.000,71,2611,1761,-10.46,0.31,259.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1732
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.6,19.539
$10V_AH,10.1,9.410
$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,27.000,105.000,353.975,0.000,0.000,36.355,137.825,140.996,6.000,0.000,0.000,16.373,1347.702,11813.760,441.935,1665.007,556.386,0.000,1268.546,0.000,1620.843,0.000,42.630,0.000
$DEVICE_MAMPS,178.711,83.603,1010.139,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.524,501.566,455.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37942,736
$CAP_FILE_SIZE,107194,0
$CFSIZE,260165632,252825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230609,142255,6259.644,-1302.954,40,1.6,40,-12.0