version: 66.04
glider: 16
mission: 13
dive: 102
start: 6 24 109 8 57 1
data:
$ID,16
$MISSION,13
$DIVE,102
$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,-2109448.2
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,084537,6309.451,-1310.312,40,0.8,40,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.9
$GPS2,085644,6309.367,-1309.972,12,1.6,12,-12.2
$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,350.3,11242,-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,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.88,0.000,6,0.000,0.000,74,2609,3417
$GC,82,-1.03,-146.6,5.7,-9.9,3,103,12.12,2.55,0.00,0.000,4,0.191,0.038,2130,1191,3419
$GC,195,-1.03,-146.6,27.1,-8.2,8,199,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2597,3419
$GC,522,-0.98,-146.6,58.4,-8.9,24,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3419
$GC,832,-0.98,-146.6,78.8,-7.9,39,836,0.00,2.47,0.00,0.000,4,0.000,0.038,2130,1193,3419
$GC,899,-0.98,-146.6,84.8,-8.4,42,903,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,1220,-0.98,-146.6,114.6,-9.7,58,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,1531,-0.98,-146.6,146.0,-9.9,73,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,1838,-0.98,-146.6,174.5,-8.9,88,1846,0.00,2.47,0.00,0.000,4,0.000,0.038,2131,1192,3419
$GC,1886,-1.03,-146.6,178.9,-8.7,90,1890,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2599,3419
$GC,2219,-1.03,-146.6,210.9,-9.9,106,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3419
$GC,2529,-1.03,-146.6,240.6,-9.2,121,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,2838,-1.03,-146.6,267.7,-8.5,136,2842,0.00,2.47,0.00,0.000,4,0.000,0.039,2131,1193,3419
$GC,2882,-1.07,-146.6,271.5,-8.2,138,2886,0.00,2.47,0.00,0.000,6,0.000,0.037,2131,2600,3419
$GC,3203,-1.07,-146.6,297.4,-7.7,154,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3419
$GC,3512,-1.07,-146.6,321.6,-7.9,169,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,3822,-1.07,-146.6,350.2,-10.1,184,3826,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1193,3419
$GC,3855,-1.07,-146.6,353.7,-9.8,185,3860,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2602,3419
$GC,4171,-1.07,-146.6,383.5,-8.9,200,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3418
$GC,4480,-1.07,-146.6,411.0,-8.6,215,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,4789,-1.07,-146.6,436.7,-8.5,230,4794,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1194,3418
$GC,4840,-1.12,-146.6,441.2,-8.7,232,4844,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2609,3418
$GC,5156,-1.12,-146.6,467.5,-8.6,247,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3418
$GC,5464,-1.12,-146.6,495.6,-8.4,262,5469,0.00,2.50,0.00,0.000,4,0.000,0.040,2131,1190,3417
$GC,5532,-1.17,-146.6,500.7,-7.2,265,5537,0.12,2.47,0.00,0.000,6,0.048,0.038,2090,2600,3417
$GC,5854,-1.08,-146.6,529.6,-9.2,281,5855,0.17,0.00,0.00,0.000,6,0.096,0.000,2123,2600,3417
$GC,6162,-1.08,-146.6,556.3,-8.5,296,6167,0.00,2.47,0.00,0.000,4,0.000,0.040,2123,1193,3417
$GC,6202,-1.08,-146.6,559.8,-8.5,298,6207,0.00,2.47,0.00,0.000,6,0.000,0.038,2123,2603,3417
$GC,6529,-1.08,-146.6,586.3,-7.3,314,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3417
$GC,6839,-1.08,-146.6,606.6,-7.1,329,6843,0.00,2.50,0.00,0.000,4,0.000,0.041,2123,1187,3417
$GC,6901,-1.12,-146.6,611.3,-7.7,332,6905,0.00,2.47,0.00,0.000,6,0.000,0.038,2124,2599,3417
$GC,7227,-1.12,-146.6,638.8,-7.8,348,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3417
$GC,7537,-1.12,-146.6,660.8,-7.3,363,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3416
$GC,7846,-1.12,-146.6,685.9,-8.7,378,7850,0.00,2.47,0.00,0.000,4,0.000,0.042,2123,1193,3415
$GC,7902,-1.18,-146.6,690.6,-8.6,380,7906,0.00,2.50,0.00,0.000,6,0.000,0.041,2123,2605,3415
$STATE,8009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8009,begin apogee
$GC,8016,-0.31,0.0,701.0,9.7,385,8152,0.82,0.00,128.80,1.017,6,0.101,0.000,2290,2277,2816
$STATE,8152,end apogee,CONTROL_FINISHED_OK
$STATE,8152,begin climb
$GC,8155,1.03,146.6,705.0,0.0,392,8291,1.35,0.00,131.10,1.006,6,0.066,0.000,2582,2277,2219
$GC,8589,0.97,184.2,681.9,6.2,413,8631,0.00,2.80,33.67,0.963,4,0.000,0.069,2582,3700,2065
$GC,8671,0.86,184.2,675.0,8.5,416,8677,0.17,2.45,0.00,0.000,6,0.099,0.031,2551,2313,2063
$GC,8986,0.86,184.2,651.4,7.8,432,8990,0.00,2.58,0.00,0.000,4,0.000,0.052,2549,897,2059
$GC,9041,0.86,184.2,647.1,8.2,434,9048,0.00,2.50,0.00,0.000,6,0.000,0.038,2549,2304,2058
$GC,9357,0.92,235.3,627.9,5.8,450,9410,0.00,2.70,47.00,0.962,4,0.000,0.067,2549,3706,1857
$GC,9520,0.92,235.3,616.2,8.0,457,9524,0.00,2.47,0.00,0.000,6,0.000,0.032,2549,2301,1852
$GC,9836,0.97,240.3,591.8,7.3,472,9846,0.00,2.58,4.68,0.653,4,0.000,0.051,2549,898,1837
$GC,9908,1.02,240.3,586.4,7.7,475,9913,0.15,2.50,0.00,0.000,6,0.049,0.037,2588,2309,1835
$GC,10224,0.97,240.3,559.1,9.1,490,10228,0.00,2.60,0.00,0.000,4,0.000,0.064,2589,3702,1835
$GC,10279,0.89,240.3,553.3,10.3,492,10286,0.17,2.45,0.00,0.000,6,0.100,0.031,2556,2301,1835
$GC,10595,0.89,240.3,525.4,10.0,508,10599,0.00,2.53,0.00,0.000,4,0.000,0.050,2556,898,1835
$GC,10662,0.89,240.3,518.7,10.2,511,10666,0.00,2.47,0.00,0.000,6,0.000,0.035,2556,2311,1833
$GC,10989,0.94,247.8,493.6,7.2,527,11003,0.00,2.62,8.32,0.752,4,0.000,0.061,2556,3692,1805
$GC,11033,0.94,247.8,490.2,8.2,529,11037,0.00,2.42,0.00,0.000,6,0.000,0.029,2556,2300,1805
$GC,11360,0.99,247.8,465.7,8.2,545,11364,0.00,2.53,0.00,0.000,4,0.000,0.048,2557,896,1804
$GC,11426,1.05,247.8,459.7,9.2,548,11431,0.15,2.45,0.00,0.000,6,0.048,0.034,2597,2299,1803
$GC,11748,0.99,247.8,426.5,10.5,564,11750,0.12,0.00,0.00,0.000,6,0.097,0.000,2575,2300,1803
$GC,12056,0.99,247.8,395.8,9.9,579,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1803
$GC,12366,0.99,247.8,365.3,9.9,594,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1803
$GC,12675,0.99,247.8,333.7,10.4,609,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1803
$GC,12984,0.99,247.8,302.2,10.0,624,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1803
$GC,13293,0.99,247.8,274.0,8.6,639,13297,0.00,2.50,0.00,0.000,4,0.000,0.044,2575,894,1804
$GC,13349,0.99,247.8,269.3,8.2,641,13353,0.00,2.45,0.00,0.000,6,0.000,0.034,2575,2299,1803
$GC,13665,0.99,247.8,243.5,8.0,656,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1803
$GC,13974,0.99,247.8,217.5,8.6,671,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1803
$GC,14284,0.99,247.8,190.2,9.0,686,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2299,1804
$GC,14593,0.99,247.8,164.1,8.4,701,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2300,1803
$GC,14902,0.99,247.8,139.0,8.2,716,14906,0.00,2.50,0.00,0.000,4,0.000,0.044,2575,896,1804
$GC,14946,0.99,247.8,135.0,9.4,718,14951,0.00,2.45,0.00,0.000,6,0.000,0.034,2575,2302,1804
$GC,15268,0.99,247.8,107.4,8.7,734,15272,0.00,2.55,0.00,0.000,4,0.000,0.059,2575,3700,1804
$GC,15323,0.99,247.8,102.2,9.8,736,15329,0.00,2.42,0.00,0.000,6,0.000,0.029,2575,2292,1803
$GC,15639,0.99,247.8,73.2,9.5,752,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2291,1804
$GC,15950,0.99,247.8,43.9,9.3,767,15951,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2291,1804
$GC,16257,0.99,247.8,15.6,8.7,782,16258,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2291,1804
$STATE,16420,end climb,SURFACE_DEPTH_REACHED
$STATE,16420,begin surface coast
$FINISH,0.7,1.026542
$STATE,16441,end surface coast,CONTROL_FINISHED_OK
$STATE,16442,begin surface
$SM_CCo,16465,0.20,0.133,0,0,1798,250.21
$SM_GC,2.55,0.00,0.00,0.20,0.000,0.000,0.133,75,2603,1798,-10.51,0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1728
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.2,60.2
$24V_AH,23.6,20.149
$10V_AH,10.1,9.777
$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,27.175,106.225,353.575,0.200,0.000,54.235,83.534,287.641,5.500,0.000,0.000,12.223,1427.458,12926.506,464.819,1635.584,681.326,0.000,1277.494,0.000,1603.143,0.000,38.891,0.000
$DEVICE_MAMPS,190.983,69.030,1017.042,133.458,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.122,541.557,487.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41244,791
$CAP_FILE_SIZE,117059,0
$CFSIZE,260165632,252559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240609,133236,6312.674,-1308.544,30,1.9,30,-12.2