version: 66.04
glider: 16
mission: 13
dive: 110
start: 6 25 109 21 14 32
data:
$ID,16
$MISSION,13
$DIVE,110
$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,-2109592.8
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,210906,6329.588,-1314.452,26,1.3,26,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.5
$GPS2,211413,6329.651,-1314.535,10,1.3,15,-12.4
$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,10.2,9914,-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,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.25,0.000,2,0.000,0.000,80,2602,3318
$GC,82,-1.03,-146.6,5.2,-8.8,3,104,11.93,2.35,-1.62,0.000,4,0.186,0.075,2129,3850,3417
$GC,346,-0.97,-146.6,47.5,-11.0,14,352,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2583,3418
$GC,662,-0.97,-146.6,71.5,-7.5,30,666,0.00,2.35,0.00,0.000,4,0.000,0.062,2129,3857,3418
$GC,757,-0.97,-146.6,80.0,-9.8,34,761,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2595,3418
$GC,1078,-0.97,-146.6,110.3,-9.6,50,1082,0.00,2.33,0.00,0.000,4,0.000,0.064,2129,3856,3419
$GC,1141,-0.97,-146.6,116.4,-9.9,53,1145,0.00,2.12,0.00,0.000,6,0.000,0.028,2129,2600,3419
$GC,1474,-0.97,-146.6,146.5,-9.5,69,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1783,-0.97,-146.6,172.4,-7.6,84,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,2092,-0.97,-146.6,194.6,-7.5,99,2096,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1208,3419
$GC,2136,-0.97,-146.6,197.9,-7.1,101,2141,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3419
$GC,2457,-0.97,-146.6,222.7,-7.8,117,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2767,-0.97,-146.6,243.6,-6.1,132,2771,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1212,3419
$GC,2812,-1.01,-146.6,246.3,-6.4,134,2816,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2606,3419
$GC,3133,-1.01,-146.6,266.5,-5.8,150,3137,0.00,2.47,0.00,0.000,4,0.000,0.040,2130,1204,3419
$GC,3166,-1.01,-146.6,268.3,-5.6,151,3172,0.00,2.45,0.00,0.000,6,0.000,0.037,2130,2600,3419
$GC,3482,-1.01,-146.6,284.8,-4.9,167,3486,0.00,2.33,0.00,0.000,4,0.000,0.067,2130,3861,3419
$GC,3516,-1.01,-146.6,286.8,-6.2,168,3519,0.00,2.12,0.00,0.000,6,0.000,0.028,2130,2602,3418
$GC,3837,-1.01,-146.6,306.9,-7.5,184,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4146,-1.01,-146.6,335.7,-9.5,199,4150,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1209,3418
$GC,4186,-1.01,-146.6,339.4,-9.8,201,4190,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2605,3418
$GC,4512,-1.01,-146.6,368.4,-8.4,217,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3418
$GC,4821,-1.01,-146.6,392.5,-7.0,232,4826,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1210,3418
$GC,4862,-1.06,-146.6,395.4,-7.3,234,4866,0.00,2.45,0.00,0.000,6,0.000,0.037,2128,2609,3418
$GC,5189,-1.06,-146.6,418.7,-7.1,250,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3418
$GC,5498,-1.06,-146.6,438.3,-5.9,265,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2610,3417
$GC,5807,-1.06,-146.6,453.6,-4.5,280,5811,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1209,3418
$GC,5840,-1.06,-146.6,455.1,-4.4,281,5844,0.00,2.42,0.00,0.000,6,0.000,0.037,2129,2600,3417
$GC,6161,-1.06,-146.6,472.5,-6.7,297,6165,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1208,3417
$GC,6206,-1.11,-146.6,475.6,-7.3,299,6210,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2604,3417
$GC,6529,-1.11,-146.6,500.9,-9.2,315,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3417
$GC,6836,-1.11,-146.6,535.0,-11.6,330,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,7145,-1.11,-146.6,569.7,-10.8,345,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,7455,-1.11,-146.6,603.7,-11.4,360,7459,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3417
$GC,7495,-1.15,-146.6,608.3,-10.8,362,7499,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2608,3417
$GC,7821,-1.15,-146.6,641.6,-10.1,378,7825,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1210,3416
$GC,7867,-1.20,-146.6,645.6,-8.6,380,7871,0.15,2.42,0.00,0.000,6,0.045,0.038,2085,2600,3416
$GC,8196,-1.10,-146.6,679.7,-10.7,396,8198,0.17,0.00,0.00,0.000,6,0.096,0.000,2118,2600,3416
$GC,8503,-1.10,-146.6,703.7,-6.9,411,8507,0.00,2.45,0.00,0.000,4,0.000,0.041,2117,1204,3416
$GC,8554,-1.17,-146.6,706.1,-3.4,413,8558,0.00,2.47,0.00,0.000,6,0.000,0.041,2118,2608,3416
$GC,8870,-1.11,-146.6,723.1,-8.5,428,8874,0.00,2.45,0.00,0.000,4,0.000,0.040,2118,1210,3415
$GC,8970,-1.11,-146.6,733.4,-11.6,432,8976,0.00,2.47,0.00,0.000,6,0.000,0.043,2118,2604,3415
$GC,9286,-1.45,-146.6,747.3,-0.0,448,9288,0.35,0.00,0.00,0.000,6,0.056,0.000,2040,2604,3415
$STATE,9427,end dive,NO_VERTICAL_VELOCITY
$STATE,9427,begin apogee
$GC,9435,-0.31,0.0,747.3,0.0,455,9570,1.17,0.00,129.23,1.041,6,0.074,0.000,2292,2303,2816
$STATE,9571,end apogee,CONTROL_FINISHED_OK
$STATE,9571,begin climb
$GC,9574,1.03,146.6,746.9,0.0,462,9712,1.30,2.72,130.02,1.026,4,0.048,0.067,2584,3709,2218
$GC,9774,0.88,146.6,736.4,7.8,470,9781,0.17,2.47,0.00,0.000,6,0.098,0.033,2552,2313,2214
$GC,10090,0.95,274.9,722.8,3.1,486,10210,0.00,0.00,115.53,1.009,6,0.000,0.000,2552,2313,1695
$GC,10520,1.07,314.1,693.9,6.2,507,10563,0.20,2.70,36.45,0.973,4,0.045,0.052,2610,898,1535
$GC,10672,1.02,314.1,676.8,13.2,513,10678,0.15,2.50,0.00,0.000,6,0.092,0.038,2583,2303,1528
$GC,10987,1.02,314.1,637.3,12.2,529,10992,0.00,2.58,0.00,0.000,4,0.000,0.050,2582,892,1526
$GC,11031,1.02,314.1,631.3,13.8,531,11035,0.00,2.50,0.00,0.000,6,0.000,0.036,2582,2302,1525
$GC,11352,1.02,314.1,580.6,18.3,547,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1525
$GC,11662,1.02,314.1,533.7,13.1,562,11666,0.00,2.55,0.00,0.000,4,0.000,0.048,2582,897,1525
$GC,11706,1.02,314.1,527.6,13.6,564,11710,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2302,1524
$GC,12026,1.02,314.1,496.3,7.8,580,12030,0.00,2.60,0.00,0.000,4,0.000,0.061,2582,3702,1524
$GC,12054,1.03,322.0,494.2,7.2,581,12066,0.00,2.45,6.53,0.694,6,0.000,0.029,2582,2296,1504
$GC,12374,1.14,417.1,479.0,4.2,597,12468,0.12,2.58,87.32,0.867,4,0.051,0.049,2621,898,1115
$GC,12503,1.14,417.1,470.5,7.7,603,12508,0.00,2.50,0.00,0.000,6,0.000,0.035,2621,2308,1109
$GC,12825,1.15,434.7,447.1,6.9,619,12847,0.00,2.60,15.57,0.783,4,0.000,0.047,2621,895,1043
$GC,12899,1.15,434.7,441.3,8.3,622,12903,0.00,2.47,0.00,0.000,6,0.000,0.034,2621,2299,1041
$GC,13220,1.15,434.7,411.9,9.8,638,13224,0.00,2.53,0.00,0.000,4,0.000,0.047,2621,897,1039
$GC,13282,1.15,434.7,405.8,9.4,641,13287,0.00,2.45,0.00,0.000,6,0.000,0.035,2621,2301,1038
$GC,13609,1.15,434.7,371.1,11.2,657,13613,0.00,2.53,0.00,0.000,4,0.000,0.046,2621,897,1037
$GC,13671,1.15,434.7,363.9,11.5,660,13675,0.00,2.47,0.00,0.000,6,0.000,0.035,2621,2309,1037
$GC,13997,1.15,434.7,325.2,11.4,676,14002,0.00,2.55,0.00,0.000,4,0.000,0.046,2621,896,1036
$GC,14064,1.15,434.7,317.5,10.5,679,14069,0.00,2.47,0.00,0.000,6,0.000,0.035,2621,2310,1037
$GC,14386,1.15,434.7,284.4,10.3,695,14390,0.00,2.55,0.00,0.000,4,0.000,0.046,2621,896,1036
$GC,14464,1.20,434.7,276.0,10.6,698,14470,0.00,2.45,0.00,0.000,6,0.000,0.035,2620,2299,1036
$GC,14779,1.20,434.7,244.3,9.8,714,14783,0.00,2.53,0.00,0.000,4,0.000,0.046,2621,896,1036
$GC,14846,1.24,434.7,237.5,9.6,717,14850,0.00,2.45,0.00,0.000,6,0.000,0.035,2621,2302,1036
$GC,15166,1.24,434.7,203.5,11.1,733,15171,0.00,2.53,0.00,0.000,4,0.000,0.046,2621,896,1036
$GC,15234,1.29,434.7,195.4,11.8,736,15238,0.00,2.45,0.00,0.000,6,0.000,0.035,2621,2304,1036
$GC,15560,1.29,434.7,156.7,11.5,752,15564,0.00,2.53,0.00,0.000,4,0.000,0.045,2621,896,1036
$GC,15645,1.34,434.7,147.2,11.9,756,15650,0.15,2.45,0.00,0.000,6,0.058,0.035,2659,2301,1036
$GC,15973,1.27,434.7,104.6,12.9,772,15978,0.12,2.53,0.00,0.000,4,0.096,0.045,2635,890,1036
$GC,16073,1.27,434.7,92.5,14.5,776,16079,0.00,2.45,0.00,0.000,6,0.000,0.035,2635,2301,1036
$GC,16391,1.27,434.7,48.8,12.9,792,16395,0.00,2.53,0.00,0.000,4,0.000,0.045,2635,889,1036
$GC,16469,1.32,434.7,38.6,11.3,795,16475,0.00,2.45,0.00,0.000,6,0.000,0.033,2635,2306,1036
$STATE,16741,end climb,SURFACE_DEPTH_REACHED
$STATE,16741,begin surface coast
$FINISH,0.7,1.013481
$STATE,16763,end surface coast,CONTROL_FINISHED_OK
$STATE,16763,begin surface
$SM_CCo,16846,0.00,0.000,0,0,1034,437.37
$SM_GC,1.57,12.30,0.00,0.00,0.091,0.000,0.000,77,2601,1034,-10.47,0.03,437.37
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1736
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.9,57.1
$24V_AH,23.6,21.240
$10V_AH,10.1,10.354
$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,28.300,153.375,520.650,0.000,0.000,17.994,27.916,141.339,6.000,0.000,0.000,15.816,1497.125,12718.357,617.677,1858.821,462.102,0.000,1576.432,0.000,1809.842,0.000,41.490,0.000
$DEVICE_MAMPS,186.381,75.166,1040.819,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.150,552.775,451.655,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,810
$CAP_FILE_SIZE,127482,0
$CFSIZE,260165632,252104704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260609,015654,6333.907,-1308.595,43,1.5,60,-12.3