version: 66.04
glider: 16
mission: 13
dive: 109
start: 6 25 109 16 30 31
data:
$ID,16
$MISSION,13
$DIVE,109
$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,-2109576.2
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,162507,6327.137,-1311.782,43,1.4,43,-12.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.7
$GPS2,163014,6327.074,-1311.841,17,1.5,17,-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,2.2,14907,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.22,0.000,2,0.000,0.000,80,2608,3202
$GC,104,-1.03,-146.6,4.3,-4.5,4,127,12.00,2.53,-3.85,0.000,4,0.189,0.053,2129,1186,3417
$GC,380,-1.03,-146.6,37.2,-8.4,16,384,0.00,2.47,0.00,0.000,6,0.000,0.036,2129,2593,3418
$GC,701,-0.98,-146.6,61.2,-8.1,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3418
$GC,1012,-0.98,-146.6,72.5,-3.9,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2593,3418
$GC,1319,-0.98,-146.6,98.0,-14.0,62,1323,0.00,2.47,0.00,0.000,4,0.000,0.038,2129,1188,3418
$GC,1382,-0.98,-146.6,107.0,-14.2,65,1386,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2608,3418
$GC,1709,-0.98,-146.6,151.2,-14.5,81,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,2018,-0.98,-146.6,199.8,-14.8,96,2022,0.00,2.50,0.00,0.000,4,0.000,0.040,2129,1191,3418
$GC,2063,-0.98,-146.6,205.8,-13.0,98,2067,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2599,3418
$GC,2389,-0.98,-146.6,239.1,-8.9,114,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3418
$GC,2698,-0.98,-146.6,263.1,-7.7,129,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3418
$GC,3008,-0.98,-146.6,290.7,-9.3,144,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3418
$GC,3317,-0.98,-146.6,322.5,-10.2,159,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,3627,-0.98,-146.6,352.0,-9.4,174,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,3935,-0.98,-146.6,380.1,-9.3,189,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4245,-0.98,-146.6,410.4,-9.7,204,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,4554,-0.98,-146.6,438.6,-9.0,219,4558,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1185,3417
$GC,4594,-1.02,-146.6,442.0,-8.7,221,4598,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2608,3417
$GC,4920,-1.02,-146.6,470.1,-9.2,237,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3417
$GC,5229,-1.02,-146.6,499.6,-9.2,252,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3417
$GC,5539,-1.02,-146.6,533.8,-10.4,267,5543,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1188,3417
$GC,5589,-1.07,-146.6,539.1,-9.9,269,5593,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2600,3417
$GC,5909,-1.07,-146.6,570.0,-9.4,285,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,6219,-1.07,-146.6,594.4,-8.2,300,6223,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1186,3417
$GC,6263,-1.13,-146.6,597.9,-7.9,302,6267,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2599,3417
$GC,6583,-1.13,-146.6,624.9,-8.7,318,6588,0.00,2.35,0.00,0.000,4,0.000,0.074,2129,3859,3416
$GC,6633,-1.13,-146.6,629.5,-9.1,320,6637,0.00,2.17,0.00,0.000,6,0.000,0.030,2129,2582,3416
$GC,6955,-1.13,-146.6,659.1,-10.7,336,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2580,3416
$GC,7264,-1.13,-146.6,690.2,-8.8,351,7268,0.00,2.38,0.00,0.000,4,0.000,0.074,2129,3857,3415
$GC,7347,-1.13,-146.6,698.2,-9.5,354,7353,0.00,2.15,0.00,0.000,6,0.000,0.032,2129,2605,3415
$GC,7663,-1.13,-146.6,724.7,-8.6,370,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3414
$STATE,7908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7908,begin apogee
$GC,7915,-0.31,0.0,745.0,8.3,382,8050,0.80,0.00,129.18,1.042,6,0.097,0.000,2292,2299,2817
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8054,1.03,146.6,750.8,0.0,389,8193,1.33,2.62,130.43,1.037,4,0.071,0.054,2576,904,2218
$GC,8332,0.94,146.6,738.9,7.8,401,8336,0.00,2.47,0.00,0.000,6,0.000,0.039,2576,2300,2211
$GC,8658,0.88,181.3,715.6,6.3,417,8695,0.12,2.70,30.95,0.986,4,0.099,0.068,2553,3705,2078
$GC,8759,0.80,181.3,708.3,7.9,420,8765,0.00,2.47,0.00,0.000,6,0.000,0.033,2553,2304,2074
$GC,9075,0.84,214.6,687.9,6.4,436,9111,0.00,2.70,30.58,0.976,4,0.000,0.065,2553,3705,1942
$GC,9184,0.84,214.6,679.8,8.2,440,9188,0.00,2.50,0.00,0.000,6,0.000,0.033,2553,2296,1939
$GC,9505,0.84,214.6,654.3,8.1,456,9510,0.00,2.62,0.00,0.000,4,0.000,0.065,2553,3702,1936
$GC,9568,0.84,214.6,648.3,9.7,459,9572,0.00,2.45,0.00,0.000,6,0.000,0.032,2553,2298,1936
$GC,9894,0.84,214.6,619.4,8.9,475,9898,0.00,2.60,0.00,0.000,4,0.000,0.064,2553,3702,1935
$GC,10007,0.84,214.6,608.8,9.6,480,10011,0.00,2.45,0.00,0.000,6,0.000,0.031,2553,2299,1935
$GC,10328,0.84,214.6,581.6,8.5,496,10332,0.00,2.55,0.00,0.000,4,0.000,0.051,2553,891,1934
$GC,10377,0.84,214.6,577.2,8.3,498,10382,0.00,2.47,0.00,0.000,6,0.000,0.035,2553,2304,1932
$GC,10693,0.84,214.6,550.7,7.8,513,10698,0.00,2.58,0.00,0.000,4,0.000,0.062,2553,3698,1933
$GC,10743,0.84,214.6,546.6,8.7,515,10748,0.00,2.45,0.00,0.000,6,0.000,0.029,2553,2290,1933
$GC,11059,0.88,257.1,526.1,6.0,530,11100,0.00,0.00,38.80,0.891,6,0.000,0.000,2553,2290,1768
$GC,11409,0.98,290.5,503.8,6.4,547,11442,0.00,0.00,31.27,0.866,6,0.000,0.000,2553,2290,1632
$GC,11738,1.08,303.0,481.1,7.1,563,11760,0.20,2.60,11.95,0.782,4,0.044,0.048,2607,898,1580
$GC,11788,1.04,303.0,476.1,10.8,565,11793,0.00,2.47,0.00,0.000,6,0.000,0.035,2607,2298,1578
$GC,12111,0.99,303.0,442.3,10.3,581,12113,0.17,0.00,0.00,0.000,6,0.090,0.000,2573,2298,1577
$GC,12420,1.04,303.0,416.5,8.6,596,12424,0.00,2.53,0.00,0.000,4,0.000,0.046,2573,891,1575
$GC,12482,1.10,303.0,411.1,8.3,599,12487,0.12,2.47,0.00,0.000,6,0.049,0.035,2606,2306,1575
$GC,12809,1.06,303.0,377.5,9.8,615,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2306,1575
$GC,13118,1.02,303.0,345.7,10.4,630,13123,0.15,2.53,0.00,0.000,4,0.091,0.044,2578,897,1575
$GC,13185,1.02,303.0,339.2,9.7,633,13189,0.00,2.45,0.00,0.000,6,0.000,0.034,2578,2308,1574
$GC,13512,1.06,303.0,310.9,8.2,649,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2308,1574
$GC,13821,1.10,303.0,285.1,8.5,664,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2308,1574
$GC,14131,1.14,303.0,259.0,8.3,679,14136,0.12,2.53,0.00,0.000,4,0.049,0.044,2618,895,1574
$GC,14193,1.09,303.0,252.6,9.8,682,14198,0.12,2.45,0.00,0.000,6,0.089,0.034,2594,2299,1574
$GC,14519,1.09,303.0,221.5,9.5,698,14524,0.00,2.50,0.00,0.000,4,0.000,0.044,2594,897,1574
$GC,14559,1.09,303.0,217.3,10.5,700,14564,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2304,1574
$GC,14887,1.09,303.0,183.3,10.5,716,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2304,1574
$GC,15196,1.09,303.0,148.9,9.2,731,15200,0.00,2.50,0.00,0.000,4,0.000,0.044,2594,895,1574
$GC,15296,1.09,303.0,138.8,9.6,735,15302,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2302,1574
$GC,15612,1.09,303.0,106.1,11.2,751,15616,0.00,2.58,0.00,0.000,4,0.000,0.060,2594,3707,1574
$GC,15652,1.09,303.0,101.2,12.0,753,15656,0.00,2.42,0.00,0.000,6,0.000,0.029,2594,2293,1575
$GC,15979,1.09,303.0,65.0,9.5,769,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2292,1575
$GC,16288,1.09,303.0,30.5,11.6,784,16292,0.00,2.58,0.00,0.000,4,0.000,0.057,2594,3701,1575
$GC,16332,1.09,303.0,24.9,13.6,786,16336,0.00,2.42,0.00,0.000,6,0.000,0.028,2594,2295,1575
$STATE,16547,end climb,SURFACE_DEPTH_REACHED
$STATE,16547,begin surface coast
$FINISH,0.8,1.015211
$STATE,16569,end surface coast,CONTROL_FINISHED_OK
$STATE,16569,begin surface
$SM_CCo,16653,0.00,0.000,0,0,1573,305.15
$SM_GC,1.58,12.27,0.00,0.00,0.100,0.000,0.000,80,2600,1573,-10.45,0.00,305.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1724
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,103.5
$24V_AH,23.6,21.084
$10V_AH,10.1,10.277
$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,27.425,115.575,403.150,0.000,0.000,17.976,28.073,144.667,5.500,0.000,0.000,17.311,1449.489,12801.606,517.944,1755.486,435.483,0.000,1394.226,0.000,1711.124,0.000,38.401,0.000
$DEVICE_MAMPS,189.449,73.632,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.655,547.780,479.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41199,798
$CAP_FILE_SIZE,115805,0
$CFSIZE,260165632,252178432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250609,210906,6329.588,-1314.452,26,1.3,26,-12.4