version: 66.04
glider: 16
mission: 13
dive: 103
start: 6 24 109 13 37 43
data:
$ID,16
$MISSION,13
$DIVE,103
$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,-2109462.8
$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,30
$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
$GPS1,133236,6312.674,-1308.544,30,1.9,30,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.5
$GPS2,133726,6312.667,-1308.641,13,1.7,13,-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,321.4,6838,-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,18,-1.03,-146.6,0.0,0.0,0,74,0.00,0.00,-54.17,0.000,6,0.000,0.000,75,2604,3417
$GC,77,-1.03,-146.6,3.7,-8.5,2,98,11.82,2.55,0.00,0.000,4,0.182,0.039,2130,1190,3418
$GC,194,-1.03,-146.6,29.2,-9.8,7,198,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2593,3418
$GC,515,-1.03,-146.6,60.9,-10.4,23,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3419
$GC,826,-1.03,-146.6,96.3,-11.5,38,830,0.00,2.35,0.00,0.000,4,0.000,0.067,2130,3861,3419
$GC,870,-1.03,-146.6,101.8,-11.2,40,874,0.00,2.17,0.00,0.000,6,0.000,0.028,2130,2579,3419
$GC,1191,-1.03,-146.6,128.7,-7.6,56,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,1500,-1.03,-146.6,153.3,-8.8,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,1810,-1.03,-146.6,180.3,-8.3,86,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3420
$GC,2119,-1.03,-146.6,207.1,-9.3,101,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3420
$GC,2428,-1.03,-146.6,238.4,-10.3,116,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,2738,-1.03,-146.6,269.2,-9.9,131,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2578,3419
$GC,3047,-1.03,-146.6,297.2,-8.7,146,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,3356,-1.03,-146.6,325.0,-9.2,161,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,3665,-1.03,-146.6,354.6,-9.6,176,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3419
$GC,3974,-1.03,-146.6,384.5,-9.3,191,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3419
$GC,4284,-1.03,-146.6,413.3,-9.4,206,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,4593,-1.03,-146.6,442.6,-9.2,221,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,4902,-1.03,-146.6,472.1,-8.9,236,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2577,3418
$GC,5211,-1.03,-146.6,497.9,-8.5,251,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,5521,-1.03,-146.6,524.9,-9.0,266,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,5830,-1.03,-146.6,554.2,-9.6,281,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2577,3418
$GC,6139,-1.03,-146.6,580.5,-8.3,296,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2576,3418
$GC,6449,-1.03,-146.6,606.0,-8.1,311,6453,0.00,2.40,0.00,0.000,4,0.000,0.072,2130,3860,3418
$GC,6498,-1.03,-146.6,610.6,-8.7,313,6502,0.00,2.15,0.00,0.000,6,0.000,0.031,2130,2596,3417
$GC,6820,-1.03,-146.6,635.6,-7.7,329,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2594,3417
$GC,7129,-1.03,-146.6,660.1,-8.2,344,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3418
$GC,7438,-1.07,-146.6,687.6,-8.4,359,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2594,3417
$GC,7747,-1.07,-146.6,712.8,-7.8,374,7752,0.00,2.47,0.00,0.000,4,0.000,0.049,2130,1209,3416
$GC,7792,-1.15,-146.6,716.6,-8.6,376,7797,0.00,2.45,0.00,0.000,6,0.000,0.041,2131,2601,3416
$STATE,7863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7863,begin apogee
$GC,7870,-0.31,0.0,723.1,9.4,380,8005,0.77,0.00,129.43,1.035,6,0.097,0.000,2288,2305,2816
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8009,1.03,146.6,729.4,0.0,387,8145,1.38,0.00,131.38,1.022,6,0.077,0.000,2578,2305,2219
$GC,8441,0.96,163.7,707.9,6.9,408,8460,0.00,0.00,15.60,0.925,6,0.000,0.000,2578,2305,2149
$GC,8770,0.98,232.1,687.3,5.2,424,8840,0.00,2.78,62.72,0.993,4,0.000,0.067,2578,3711,1871
$GC,8881,0.98,232.1,680.2,7.9,429,8885,0.00,2.50,0.00,0.000,6,0.000,0.033,2578,2307,1869
$GC,9201,0.98,232.1,653.1,9.6,445,9206,0.00,2.65,0.00,0.000,4,0.000,0.067,2578,3712,1863
$GC,9257,0.98,232.1,646.7,12.0,447,9263,0.00,2.47,0.00,0.000,6,0.000,0.033,2578,2299,1863
$GC,9573,0.98,232.1,613.8,10.2,463,9577,0.00,2.62,0.00,0.000,4,0.000,0.064,2578,3705,1862
$GC,9612,0.98,232.1,609.5,11.7,465,9616,0.00,2.45,0.00,0.000,6,0.000,0.031,2578,2298,1862
$GC,9939,1.00,242.5,582.9,7.1,481,9950,0.00,0.00,9.65,0.821,6,0.000,0.000,2578,2298,1827
$GC,10248,1.02,262.5,562.1,6.8,496,10269,0.00,0.00,19.60,0.884,6,0.000,0.000,2578,2298,1747
$GC,10577,1.02,262.5,536.4,8.3,512,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1743
$GC,10886,1.02,262.5,507.9,9.6,527,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1743
$GC,11195,1.06,262.5,476.5,10.4,542,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2297,1742
$GC,11505,1.10,262.5,446.8,9.2,557,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2298,1742
$GC,11814,1.15,262.5,420.0,8.5,572,11816,0.15,0.00,0.00,0.000,6,0.047,0.000,2623,2297,1743
$GC,12123,1.07,262.5,388.9,10.0,587,12128,0.15,2.50,0.00,0.000,4,0.091,0.048,2593,895,1742
$GC,12167,1.07,262.5,384.3,9.9,589,12171,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2306,1742
$GC,12495,1.03,262.5,352.1,10.2,605,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2306,1741
$GC,12803,1.03,262.5,318.2,11.3,620,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2307,1742
$GC,13113,1.03,262.5,284.9,10.3,635,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2307,1742
$GC,13422,1.03,262.5,254.1,9.8,650,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2307,1741
$GC,13731,0.99,262.5,223.4,10.3,665,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2307,1742
$GC,14040,0.99,262.5,191.9,9.8,680,14045,0.00,2.53,0.00,0.000,4,0.000,0.045,2594,891,1742
$GC,14085,0.99,262.5,187.4,9.7,682,14089,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2305,1742
$GC,14405,0.99,262.5,160.6,8.1,698,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1742
$GC,14715,0.99,262.5,131.2,9.9,713,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1742
$GC,15025,0.99,262.5,99.5,10.6,728,15029,0.00,2.53,0.00,0.000,4,0.000,0.044,2593,886,1742
$GC,15087,0.99,262.5,92.6,10.9,731,15092,0.00,2.47,0.00,0.000,6,0.000,0.035,2593,2307,1742
$GC,15415,0.99,262.5,54.0,12.1,747,15419,0.00,2.53,0.00,0.000,4,0.000,0.044,2593,890,1742
$GC,15492,0.99,262.5,44.6,11.6,750,15499,0.00,2.45,0.00,0.000,6,0.000,0.035,2593,2306,1742
$GC,15810,0.99,262.5,14.2,8.0,766,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2305,1743
$STATE,15950,end climb,SURFACE_DEPTH_REACHED
$STATE,15950,begin surface coast
$FINISH,0.8,1.018213
$STATE,15973,end surface coast,CONTROL_FINISHED_OK
$STATE,15973,begin surface
$SM_CCo,16057,0.00,0.000,0,0,1739,264.19
$SM_GC,1.59,12.00,0.00,0.00,0.088,0.000,0.000,64,2607,1739,-10.46,0.23,264.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1753
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.0,105.9
$24V_AH,23.6,20.264
$10V_AH,10.1,9.845
$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,26.275,55.400,368.375,0.000,0.000,17.993,26.004,131.972,5.250,0.000,0.000,13.692,1345.225,12700.401,449.675,1455.706,394.904,0.000,1155.081,0.000,1428.318,0.000,36.771,0.000
$DEVICE_MAMPS,181.779,72.098,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.368,531.373,460.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,774
$CAP_FILE_SIZE,95539,0
$CFSIZE,260165632,252522496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240609,180636,6313.671,-1315.694,40,1.1,40,-12.3