version: 66.04
glider: 16
mission: 13
dive: 108
start: 6 25 109 12 14 47
data:
$ID,16
$MISSION,13
$DIVE,108
$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,-2109558.2
$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,31
$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
$GPS1,120624,6325.009,-1311.977,26,1.2,44,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.8
$GPS2,121431,6325.058,-1311.913,15,1.3,32,-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,4.4,18587,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.28,0.000,2,0.000,0.000,68,2602,3159
$GC,82,-1.03,-146.6,4.3,-6.9,3,105,11.95,2.33,-4.70,0.000,4,0.184,0.077,2132,3858,3418
$GC,200,-1.03,-146.6,25.0,-11.8,8,204,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2582,3418
$GC,529,-1.03,-146.6,56.2,-8.2,24,533,0.00,2.42,0.00,0.000,4,0.000,0.040,2132,1206,3419
$GC,615,-1.03,-146.6,62.5,-7.4,28,619,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2597,3419
$GC,942,-1.03,-146.6,88.7,-7.5,44,946,0.00,2.33,0.00,0.000,4,0.000,0.064,2132,3858,3419
$GC,1031,-1.03,-146.6,96.0,-8.5,48,1035,0.00,2.15,0.00,0.000,6,0.000,0.028,2133,2589,3419
$GC,1358,-1.03,-146.6,122.9,-8.4,64,1362,0.00,2.35,0.00,0.000,4,0.000,0.065,2132,3860,3419
$GC,1391,-1.03,-146.6,125.8,-8.7,65,1397,0.00,2.12,0.00,0.000,6,0.000,0.028,2132,2599,3419
$GC,1709,-1.03,-146.6,150.7,-8.5,81,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2017,-1.03,-146.6,175.9,-7.9,96,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2326,-1.03,-146.6,200.4,-7.6,111,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2635,-1.03,-146.6,226.0,-8.8,126,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3419
$GC,2946,-1.03,-146.6,250.6,-7.8,141,2950,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1211,3419
$GC,2985,-1.03,-146.6,253.8,-7.9,143,2990,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2603,3419
$GC,3312,-1.03,-146.6,279.8,-7.9,159,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3419
$GC,3621,-1.03,-146.6,305.5,-8.2,174,3625,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1212,3419
$GC,3649,-1.03,-146.6,307.9,-8.5,175,3653,0.00,2.42,0.00,0.000,6,0.000,0.038,2132,2601,3419
$GC,3971,-1.03,-146.6,335.0,-8.5,191,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2602,3419
$GC,4280,-1.03,-146.6,360.6,-8.3,206,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3419
$GC,4589,-1.03,-146.6,387.5,-9.2,221,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2602,3418
$GC,4898,-1.03,-146.6,421.0,-11.9,236,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2601,3418
$GC,5207,-1.03,-146.6,468.6,-18.2,251,5211,0.00,2.45,0.00,0.000,4,0.000,0.041,2133,1211,3419
$GC,5241,-1.08,-146.6,474.9,-18.0,252,5248,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2604,3418
$GC,5557,-1.08,-146.6,520.5,-12.8,268,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2604,3418
$GC,5866,-1.08,-146.6,537.7,-3.1,283,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2604,3418
$GC,6175,-1.08,-146.6,561.4,-9.1,298,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2604,3417
$GC,6485,-1.12,-146.6,598.5,-11.5,313,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2605,3417
$GC,6794,-1.23,-146.6,639.5,-8.3,328,6796,0.17,0.00,0.00,0.000,6,0.044,0.000,2082,2604,3416
$GC,7104,-1.10,-146.6,665.7,-8.8,343,7108,0.17,2.47,0.00,0.000,4,0.104,0.042,2118,1206,3416
$GC,7166,-1.10,-146.6,671.0,-8.6,346,7170,0.00,2.47,0.00,0.000,6,0.000,0.041,2118,2605,3415
$GC,7493,-1.10,-146.6,698.3,-7.7,362,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2606,3415
$GC,7802,-1.10,-146.6,725.1,-9.9,377,7806,0.00,2.47,0.00,0.000,4,0.000,0.046,2118,1214,3415
$GC,7835,-1.15,-146.6,729.3,-12.9,378,7841,0.00,2.47,0.00,0.000,6,0.000,0.042,2118,2607,3415
$STATE,7859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7860,begin apogee
$GC,7867,-0.31,0.0,731.8,10.3,380,8002,0.85,0.00,129.10,1.039,6,0.101,0.000,2290,2307,2816
$STATE,8003,end apogee,CONTROL_FINISHED_OK
$STATE,8003,begin climb
$GC,8006,1.03,146.6,738.6,0.0,387,8145,1.38,2.70,130.38,1.030,4,0.078,0.068,2580,3706,2218
$GC,8338,0.87,146.6,723.7,9.0,401,8343,0.15,2.47,0.00,0.000,6,0.100,0.034,2553,2311,2213
$GC,8655,0.75,146.6,702.2,10.1,416,8660,0.15,2.60,0.00,0.000,4,0.101,0.055,2523,894,2210
$GC,8763,0.80,192.4,697.7,5.9,421,8808,0.00,2.50,40.47,0.988,6,0.000,0.039,2524,2304,2032
$GC,9139,0.94,325.5,671.4,3.0,439,9267,0.17,2.70,121.38,0.992,4,0.049,0.067,2572,3707,1490
$GC,9335,0.99,325.5,645.1,11.2,448,9339,0.00,2.47,0.00,0.000,6,0.000,0.031,2572,2298,1484
$GC,9656,1.05,325.5,606.1,13.9,464,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2298,1479
$GC,9965,1.11,325.5,569.2,9.6,479,9970,0.15,2.55,0.00,0.000,4,0.054,0.051,2614,892,1478
$GC,10043,1.07,325.5,560.5,11.3,482,10050,0.12,2.50,0.00,0.000,6,0.095,0.036,2591,2306,1476
$GC,10358,1.07,325.5,524.1,13.7,498,10362,0.00,2.55,0.00,0.000,4,0.000,0.047,2590,894,1476
$GC,10415,1.07,325.5,516.6,13.0,500,10419,0.00,2.47,0.00,0.000,6,0.000,0.035,2590,2302,1474
$GC,10730,1.07,325.5,476.9,12.7,515,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2302,1475
$GC,11039,1.07,325.5,444.6,10.7,530,11044,0.00,2.53,0.00,0.000,4,0.000,0.047,2590,897,1474
$GC,11102,1.07,325.5,437.9,11.3,533,11106,0.00,2.47,0.00,0.000,6,0.000,0.035,2590,2309,1474
$GC,11428,1.07,325.5,394.3,14.7,549,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2309,1474
$GC,11737,1.07,325.5,344.8,16.0,564,11741,0.00,2.55,0.00,0.000,4,0.000,0.045,2590,889,1474
$GC,11782,1.11,325.5,337.1,16.3,566,11786,0.00,2.47,0.00,0.000,6,0.000,0.035,2590,2306,1474
$GC,12109,1.11,325.5,285.7,14.9,582,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2307,1474
$GC,12419,1.11,325.5,245.5,11.1,597,12423,0.00,2.53,0.00,0.000,4,0.000,0.046,2590,895,1474
$GC,12485,1.11,325.5,238.5,9.5,600,12489,0.00,2.45,0.00,0.000,6,0.000,0.035,2591,2300,1474
$GC,12807,1.11,325.5,210.1,9.0,616,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2300,1475
$GC,13116,1.14,356.6,186.8,6.4,631,13147,0.00,2.58,26.08,0.664,4,0.000,0.045,2590,892,1362
$GC,13182,1.28,415.9,183.2,5.5,634,13241,0.22,2.50,52.03,0.671,6,0.044,0.034,2645,2310,1120
$GC,13551,1.23,415.9,152.4,8.0,652,13555,0.00,2.58,0.00,0.000,4,0.000,0.047,2645,890,1112
$GC,13645,1.23,415.9,144.4,8.7,656,13649,0.00,2.47,0.00,0.000,6,0.000,0.035,2645,2300,1110
$GC,13962,1.21,450.7,118.3,6.3,671,13997,0.00,2.62,29.30,0.618,4,0.000,0.048,2645,896,978
$GC,14184,1.21,450.7,99.7,11.0,681,14188,0.00,2.45,0.00,0.000,6,0.000,0.035,2645,2300,972
$GC,14517,1.15,450.7,46.6,17.6,697,14522,0.17,2.53,0.00,0.000,4,0.091,0.048,2606,896,970
$GC,14665,1.25,450.7,25.9,11.5,703,14672,0.12,2.45,0.00,0.000,6,0.048,0.034,2637,2307,970
$STATE,14833,end climb,SURFACE_DEPTH_REACHED
$STATE,14833,begin surface coast
$FINISH,0.8,1.026631
$STATE,14857,end surface coast,CONTROL_FINISHED_OK
$STATE,14857,begin surface
$SM_CCo,14941,0.00,0.000,0,0,968,453.56
$SM_GC,1.43,12.55,0.00,0.00,0.100,0.000,0.000,81,2606,968,-10.45,0.17,453.56
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1725
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,628.7,112.0
$24V_AH,23.6,20.959
$10V_AH,10.1,10.202
$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,28.350,104.575,528.725,0.000,0.000,36.276,63.856,188.093,5.250,0.000,0.000,32.703,1304.719,11350.307,563.034,1678.865,530.979,0.000,1426.056,0.000,1619.191,0.000,37.101,0.000
$DEVICE_MAMPS,184.080,77.467,1039.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.045,485.437,437.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,713
$CAP_FILE_SIZE,111044,0
$CFSIZE,260165632,252239872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250609,162507,6327.137,-1311.782,43,1.4,43,-12.3