version: 66.04
glider: 16
mission: 13
dive: 111
start: 6 26 109 2 2 40
data:
$ID,16
$MISSION,13
$DIVE,111
$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,-2109606
$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
$GPS1,015654,6333.907,-1308.595,43,1.5,60,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.3
$GPS2,020220,6333.963,-1308.467,12,1.4,12,-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,301.9,5715,-15.8,-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,-1.12,-116.5,0.0,0.0,0,98,0.00,0.00,-80.97,0.000,3,0.000,0.000,76,2602,3294
$GC,101,-1.15,-146.6,5.2,-6.1,4,124,11.88,2.55,-2.05,0.000,4,0.189,0.050,2102,1193,3417
$GC,373,-1.15,-146.6,43.5,-9.7,16,378,0.00,2.47,0.00,0.000,6,0.000,0.038,2102,2597,3418
$GC,701,-1.15,-146.6,72.5,-9.9,32,705,0.00,2.47,0.00,0.000,4,0.000,0.038,2102,1192,3418
$GC,741,-1.15,-146.6,77.0,-11.2,34,745,0.00,2.47,0.00,0.000,6,0.000,0.037,2102,2602,3418
$GC,1068,-1.15,-146.6,114.3,-10.7,50,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2602,3418
$GC,1377,-1.15,-146.6,143.2,-9.1,65,1381,0.00,2.33,0.00,0.000,4,0.000,0.067,2102,3860,3418
$GC,1444,-1.15,-146.6,150.4,-11.3,68,1448,0.00,2.17,0.00,0.000,6,0.000,0.028,2102,2579,3418
$GC,1765,-1.15,-146.6,189.4,-13.2,84,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2577,3418
$GC,2075,-1.15,-146.6,229.6,-12.3,99,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2577,3418
$GC,2384,-1.15,-146.6,266.4,-12.1,114,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2577,3418
$GC,2693,-1.15,-146.6,305.1,-12.6,129,2697,0.00,2.42,0.00,0.000,4,0.000,0.041,2102,1202,3419
$GC,2726,-1.15,-146.6,309.4,-12.0,130,2732,0.00,2.45,0.00,0.000,6,0.000,0.038,2102,2600,3418
$GC,3042,-1.15,-146.6,350.0,-13.1,146,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3418
$GC,3351,-1.15,-146.6,389.1,-12.4,161,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3418
$GC,3663,-1.15,-146.6,427.1,-12.3,176,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3417
$GC,3969,-1.15,-146.6,465.0,-12.1,191,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3417
$GC,4279,-1.15,-146.6,500.8,-11.4,206,4283,0.00,2.45,0.00,0.000,4,0.000,0.041,2102,1209,3418
$GC,4342,-1.21,-146.6,508.1,-11.6,209,4346,0.00,2.42,0.00,0.000,6,0.000,0.038,2102,2600,3417
$GC,4675,-1.21,-146.6,543.9,-10.3,225,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3417
$GC,4984,-1.21,-146.6,573.2,-9.5,240,4988,0.00,2.45,0.00,0.000,4,0.000,0.041,2101,1208,3417
$GC,5023,-1.27,-146.6,577.1,-9.5,241,5029,0.00,2.45,0.00,0.000,6,0.000,0.038,2102,2600,3417
$GC,5338,-1.27,-146.6,607.6,-9.7,257,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3417
$GC,5648,-1.27,-146.6,637.5,-10.8,272,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2600,3417
$GC,5957,-1.27,-146.6,667.5,-8.2,287,5961,0.00,2.35,0.00,0.000,4,0.000,0.074,2102,3858,3417
$GC,6087,-1.27,-146.6,678.4,-8.8,293,6091,0.00,2.15,0.00,0.000,6,0.000,0.031,2101,2597,3417
$STATE,6417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6417,begin apogee
$GC,6425,-0.31,0.0,709.5,10.3,309,6560,0.98,0.00,129.18,1.013,6,0.125,0.000,2290,2297,2816
$STATE,6561,end apogee,CONTROL_FINISHED_OK
$STATE,6561,begin climb
$GC,6564,1.15,146.6,714.7,0.0,316,6701,1.52,0.00,129.93,1.004,6,0.074,0.000,2609,2297,2218
$GC,7011,1.06,146.6,689.9,7.6,338,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2297,2211
$GC,7320,1.01,165.6,668.0,6.7,353,7340,0.15,0.00,16.67,0.907,6,0.097,0.000,2581,2297,2142
$GC,7649,1.06,211.8,649.1,5.5,369,7698,0.00,2.67,42.25,0.956,4,0.000,0.064,2581,3701,1953
$GC,7792,1.06,211.8,639.3,8.1,375,7796,0.00,2.45,0.00,0.000,6,0.000,0.031,2581,2310,1950
$GC,8107,1.06,211.8,612.8,8.8,390,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2310,1947
$GC,8417,1.06,211.8,579.4,11.8,405,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1946
$GC,8726,1.06,211.8,547.1,9.7,420,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1945
$GC,9035,1.07,223.8,523.9,7.0,435,9048,0.00,0.00,10.98,0.794,6,0.000,0.000,2581,2309,1904
$GC,9344,1.07,223.8,501.4,7.8,450,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1903
$GC,9653,1.11,223.8,474.4,9.2,465,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1903
$GC,9962,1.11,223.8,446.1,9.2,480,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1902
$GC,10272,1.11,223.8,418.5,8.9,495,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1903
$GC,10581,1.16,223.8,391.6,8.5,510,10586,0.15,2.55,0.00,0.000,4,0.048,0.059,2627,3704,1902
$GC,10631,1.03,223.8,385.9,11.9,512,10636,0.22,2.45,0.00,0.000,6,0.094,0.029,2583,2291,1902
$GC,10947,1.03,223.8,356.3,9.3,527,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2290,1902
$GC,11256,1.03,223.8,327.5,9.5,542,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2291,1903
$GC,11565,1.03,223.8,296.8,10.0,557,11570,0.00,2.60,0.00,0.000,4,0.000,0.058,2583,3710,1902
$GC,11628,1.03,223.8,290.0,11.1,560,11632,0.00,2.45,0.00,0.000,6,0.000,0.029,2583,2292,1902
$GC,11955,1.08,223.8,257.2,9.7,576,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1903
$GC,12264,1.12,223.8,230.1,8.4,591,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2292,1902
$GC,12574,1.19,248.1,207.5,6.5,606,12599,0.17,0.00,22.67,0.664,6,0.044,0.000,2634,2291,1805
$GC,12902,1.12,248.1,177.4,9.4,622,12904,0.15,0.00,0.00,0.000,6,0.093,0.000,2605,2291,1801
$GC,13212,1.12,248.1,146.7,11.2,637,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2291,1800
$GC,13521,1.12,248.1,113.2,9.8,652,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2291,1801
$GC,13830,1.13,251.1,88.2,7.4,667,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2291,1800
$GC,14139,1.13,251.1,62.4,11.2,682,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2291,1800
$GC,14448,1.13,251.1,29.2,9.9,697,14453,0.00,2.58,0.00,0.000,4,0.000,0.056,2605,3704,1801
$GC,14511,1.13,251.1,22.7,11.2,700,14515,0.00,2.42,0.00,0.000,6,0.000,0.028,2605,2294,1800
$STATE,14732,end climb,SURFACE_DEPTH_REACHED
$STATE,14732,begin surface coast
$FINISH,0.8,1.015077
$STATE,14755,end surface coast,CONTROL_FINISHED_OK
$STATE,14755,begin surface
$SM_CCo,14779,-0.17,0.000,0,0,1798,250.21
$SM_GC,2.49,0.00,0.00,-0.17,0.000,0.000,0.000,60,2609,1798,-10.58,0.25,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1744
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.4,43.4
$24V_AH,23.6,21.349
$10V_AH,10.1,10.420
$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,27.475,54.825,351.675,0.000,0.000,17.946,27.216,162.765,6.000,0.000,0.000,12.549,1251.418,11554.695,460.683,1415.493,427.488,0.000,1143.286,0.000,1386.765,0.000,42.745,0.000
$DEVICE_MAMPS,188.682,73.632,1013.207,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.020,493.710,446.610,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,712
$CAP_FILE_SIZE,92535,0
$CFSIZE,260165632,252092416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260609,061007,6334.146,-1315.985,28,1.0,28,-12.4