version: 66.04
glider: 16
mission: 13
dive: 105
start: 6 24 109 22 51 36
data:
$ID,16
$MISSION,13
$DIVE,105
$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,-2109495.5
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,224544,6317.221,-1313.937,39,3.1,58,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.5
$GPS2,225119,6317.226,-1313.932,10,1.4,15,-12.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-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,10.8,32929,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-73.38,0.000,6,0.000,0.000,74,2608,3417
$GC,96,-1.03,-146.6,3.9,-5.7,3,118,11.95,2.35,0.00,0.000,4,0.186,0.059,2129,3860,3418
$GC,322,-0.98,-146.6,40.0,-9.7,13,326,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2578,3419
$GC,655,-0.98,-146.6,65.2,-8.3,29,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3419
$GC,964,-0.98,-146.6,91.1,-8.0,44,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3420
$GC,1275,-0.98,-146.6,119.7,-9.5,59,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3419
$GC,1582,-0.98,-146.6,147.1,-8.4,74,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2576,3420
$GC,1892,-0.98,-146.6,169.0,-6.9,89,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3420
$GC,2201,-0.98,-146.6,192.9,-8.2,104,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3419
$GC,2510,-0.98,-146.6,220.4,-9.4,119,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2576,3419
$GC,2819,-0.98,-146.6,249.8,-9.5,134,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2575,3419
$GC,3129,-0.98,-146.6,278.0,-8.7,149,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2575,3419
$GC,3438,-0.98,-146.6,304.6,-8.8,164,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2575,3419
$GC,3747,-0.98,-146.6,332.4,-9.0,179,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2575,3419
$GC,4056,-0.98,-146.6,360.4,-8.9,194,4060,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,4100,-0.98,-146.6,364.5,-9.3,196,4104,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2605,3418
$GC,4421,-0.98,-146.6,393.0,-8.6,212,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3418
$GC,4730,-0.98,-146.6,420.4,-8.7,227,4734,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1202,3418
$GC,4774,-1.02,-146.6,424.1,-8.0,229,4778,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2610,3418
$GC,5095,-1.02,-146.6,450.9,-8.6,245,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2610,3418
$GC,5404,-1.02,-146.6,477.1,-8.5,260,5408,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1204,3417
$GC,5437,-1.02,-146.6,480.1,-9.0,261,5443,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3418
$GC,5753,-1.02,-146.6,506.7,-8.1,277,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,6062,-1.02,-146.6,528.5,-6.6,292,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,6372,-1.02,-146.6,551.4,-8.0,307,6376,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3418
$GC,6412,-1.08,-146.6,555.0,-8.8,309,6416,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2603,3418
$GC,6738,-1.08,-146.6,588.0,-10.1,325,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,7048,-1.08,-146.6,610.9,-6.3,340,7052,0.00,2.47,0.00,0.000,4,0.000,0.043,2129,1204,3417
$GC,7081,-1.12,-146.6,612.8,-5.6,341,7087,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3418
$GC,7397,-1.12,-146.6,631.3,-7.4,357,7401,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1210,3418
$GC,7448,-1.18,-146.6,635.8,-8.6,359,7453,0.12,2.45,0.00,0.000,6,0.048,0.039,2090,2599,3417
$GC,7764,-1.08,-146.6,669.2,-10.0,374,7766,0.17,0.00,0.00,0.000,6,0.097,0.000,2123,2599,3417
$GC,8072,-1.08,-146.6,694.1,-8.7,389,8076,0.00,2.45,0.00,0.000,4,0.000,0.043,2123,1206,3416
$GC,8134,-1.14,-146.6,699.2,-7.8,391,8140,0.00,2.47,0.00,0.000,6,0.000,0.042,2122,2602,3416
$STATE,8385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8385,begin apogee
$GC,8392,-0.31,0.0,722.2,9.5,404,8528,0.82,0.00,129.43,1.030,6,0.100,0.000,2291,2306,2816
$STATE,8529,end apogee,CONTROL_FINISHED_OK
$STATE,8529,begin climb
$GC,8532,1.03,146.6,725.3,0.0,411,8670,1.33,2.70,130.35,1.019,4,0.060,0.067,2582,3704,2219
$GC,8717,0.82,155.9,722.8,7.2,419,8732,0.22,2.45,9.55,0.861,6,0.092,0.032,2539,2309,2181
$GC,9042,0.87,194.5,700.4,6.2,434,9084,0.00,2.62,35.28,0.978,4,0.000,0.053,2539,901,2021
$GC,9123,0.87,194.5,694.8,8.2,437,9129,0.00,2.53,0.00,0.000,6,0.000,0.039,2538,2309,2019
$GC,9439,0.91,198.6,672.1,7.4,453,9448,0.00,2.65,4.00,0.611,4,0.000,0.068,2539,3701,2007
$GC,9484,0.91,198.6,668.4,8.5,455,9489,0.00,2.47,0.00,0.000,6,0.000,0.032,2538,2299,2007
$GC,9812,0.97,209.0,643.7,7.1,471,9833,0.15,2.65,11.30,0.871,4,0.051,0.052,2580,895,1963
$GC,9880,0.89,209.0,637.8,9.6,474,9885,0.15,2.53,0.00,0.000,6,0.097,0.038,2552,2308,1961
$GC,10207,0.89,209.0,605.3,11.5,490,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2309,1960
$GC,10515,0.89,209.0,568.9,11.2,505,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2309,1959
$GC,10825,0.90,220.6,540.5,7.1,520,10846,0.00,2.70,11.60,0.830,4,0.000,0.064,2552,3705,1916
$GC,10886,0.94,257.7,537.1,6.2,522,10926,0.00,2.47,35.58,0.900,6,0.000,0.031,2552,2299,1766
$GC,11240,1.06,315.9,518.9,5.5,539,11300,0.17,2.65,53.97,0.897,4,0.046,0.051,2599,897,1530
$GC,11340,1.06,315.9,510.0,10.0,543,11346,0.00,2.50,0.00,0.000,6,0.000,0.035,2599,2305,1524
$GC,11655,1.06,315.9,475.3,11.7,559,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2305,1520
$GC,11964,1.06,315.9,441.3,10.5,574,11969,0.00,2.55,0.00,0.000,4,0.000,0.047,2599,894,1519
$GC,12006,1.06,315.9,436.7,11.4,576,12011,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2302,1518
$GC,12332,1.06,315.9,397.0,12.3,592,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2302,1517
$GC,12642,1.06,315.9,362.4,10.5,607,12646,0.00,2.53,0.00,0.000,4,0.000,0.046,2599,895,1518
$GC,12727,1.06,315.9,353.6,10.2,611,12731,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2306,1515
$GC,13053,1.06,315.9,320.4,10.4,627,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2306,1517
$GC,13362,1.06,315.9,286.9,10.5,642,13367,0.00,2.55,0.00,0.000,4,0.000,0.046,2599,888,1517
$GC,13429,1.06,315.9,279.4,10.9,645,13434,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2301,1517
$GC,13751,1.06,315.9,245.1,10.1,661,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2302,1517
$GC,14060,1.06,315.9,213.3,10.5,676,14065,0.00,2.53,0.00,0.000,4,0.000,0.046,2599,894,1517
$GC,14100,1.06,315.9,209.0,10.7,678,14104,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2311,1516
$GC,14426,1.06,315.9,174.4,10.9,694,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2311,1517
$GC,14736,1.06,315.9,141.8,10.1,709,14740,0.00,2.55,0.00,0.000,4,0.000,0.046,2599,886,1517
$GC,14821,1.06,315.9,133.3,9.4,713,14825,0.00,2.47,0.00,0.000,6,0.000,0.035,2599,2302,1517
$GC,15148,1.06,315.9,99.5,10.7,729,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2303,1517
$GC,15458,1.06,315.9,65.6,10.9,744,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2303,1517
$GC,15766,1.06,315.9,34.0,10.0,759,15770,0.00,2.53,0.00,0.000,4,0.000,0.044,2599,892,1517
$GC,15821,1.11,315.9,27.9,10.3,761,15828,0.00,2.45,0.00,0.000,6,0.000,0.035,2599,2305,1517
$STATE,16073,end climb,SURFACE_DEPTH_REACHED
$STATE,16073,begin surface coast
$FINISH,0.7,1.025722
$STATE,16095,end surface coast,CONTROL_FINISHED_OK
$STATE,16095,begin surface
$SM_CCo,16178,0.00,0.000,0,0,1515,319.14
$SM_GC,1.52,11.45,0.00,0.00,0.061,0.000,0.000,68,2599,1515,-10.46,-0.03,319.14
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1744
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,105.5
$24V_AH,23.6,20.530
$10V_AH,10.1,9.991
$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,26.550,100.850,421.050,0.000,0.000,33.397,44.022,143.681,5.250,0.000,0.000,15.268,1381.970,12536.730,522.130,1614.388,456.851,0.000,1337.590,0.000,1574.472,0.000,36.771,0.000
$DEVICE_MAMPS,185.614,68.263,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.966,529.427,466.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37940,775
$CAP_FILE_SIZE,108131,0
$CFSIZE,260165632,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250609,032230,6319.737,-1311.750,40,1.8,40,-12.3