version: 66.04
glider: 16
mission: 13
dive: 112
start: 6 26 109 6 15 2
data:
$ID,16
$MISSION,13
$DIVE,112
$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,-2109624.2
$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,33
$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
$GPS1,061007,6334.146,-1315.985,28,1.0,28,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.9
$GPS2,061444,6334.095,-1316.127,17,1.3,17,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$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,22.0,29879,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-54.25,0.000,6,0.000,0.000,60,2609,3416
$GC,79,-1.03,-146.6,8.0,-14.7,3,101,11.93,2.33,0.00,0.000,4,0.183,0.056,2129,3860,3418
$GC,193,-0.97,-146.6,31.7,-9.7,8,197,0.00,2.17,0.00,0.000,6,0.000,0.028,2129,2577,3418
$GC,520,-0.97,-146.6,60.0,-8.9,24,524,0.00,2.40,0.00,0.000,4,0.000,0.040,2129,1211,3419
$GC,583,-0.97,-146.6,65.6,-8.9,27,587,0.00,2.45,0.00,0.000,6,0.000,0.036,2129,2605,3419
$GC,910,-0.97,-146.6,99.0,-11.4,43,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3419
$GC,1219,-0.97,-146.6,136.9,-12.4,58,1223,0.00,2.47,0.00,0.000,4,0.000,0.040,2129,1203,3419
$GC,1262,-0.97,-146.6,142.5,-12.1,60,1267,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2600,3419
$GC,1585,-0.97,-146.6,179.7,-11.0,76,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1893,-0.97,-146.6,211.3,-10.0,91,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,2203,-0.97,-146.6,242.2,-9.3,106,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,2512,-0.97,-146.6,271.4,-10.0,121,2516,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1204,3419
$GC,2545,-0.97,-146.6,274.8,-10.3,122,2552,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2600,3418
$GC,2868,-0.97,-146.6,307.3,-10.1,138,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,3178,-0.97,-146.6,337.7,-9.7,153,3182,0.00,2.45,0.00,0.000,4,0.000,0.039,2129,1206,3419
$GC,3222,-1.02,-146.6,342.1,-9.3,155,3227,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2601,3419
$GC,3544,-1.02,-146.6,371.8,-9.1,171,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2601,3419
$GC,3854,-1.02,-146.6,400.2,-9.0,186,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3419
$GC,4165,-1.02,-146.6,426.7,-8.4,201,4169,0.00,2.45,0.00,0.000,4,0.000,0.040,2129,1208,3418
$GC,4215,-1.07,-146.6,430.9,-7.5,203,4220,0.00,2.45,0.00,0.000,6,0.000,0.037,2129,2606,3418
$GC,4531,-1.07,-146.6,456.4,-8.2,218,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,4840,-1.07,-146.6,482.7,-9.3,233,4844,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,4873,-1.07,-146.6,485.9,-9.9,234,4879,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2609,3418
$GC,5188,-1.07,-146.6,516.4,-9.7,250,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3418
$GC,5497,-1.07,-146.6,546.0,-9.1,265,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2609,3418
$GC,5807,-1.07,-146.6,578.2,-10.6,280,5811,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1202,3417
$GC,5852,-1.13,-146.6,582.9,-9.9,282,5856,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2600,3417
$GC,6173,-1.13,-146.6,613.4,-9.2,298,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,6482,-1.13,-146.6,641.1,-8.0,313,6486,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1206,3417
$GC,6545,-1.17,-146.6,645.5,-7.1,316,6550,0.12,2.45,0.00,0.000,6,0.046,0.038,2090,2603,3418
$GC,6874,-1.08,-146.6,680.9,-12.1,332,6879,0.17,2.45,0.00,0.000,4,0.098,0.041,2126,1212,3417
$GC,6919,-1.13,-146.6,686.9,-12.4,334,6923,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2607,3417
$GC,7240,-1.13,-146.6,722.5,-7.1,350,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2607,3417
$GC,7549,-1.13,-146.6,745.5,-7.8,365,7553,0.00,2.47,0.00,0.000,4,0.000,0.042,2126,1204,3417
$GC,7599,-1.18,-146.6,749.8,-7.9,367,7606,0.00,2.45,0.00,0.000,6,0.000,0.040,2126,2600,3417
$GC,7922,-1.18,-146.6,773.7,-7.1,383,7926,0.00,2.45,0.00,0.000,4,0.000,0.043,2126,1212,3417
$GC,7966,-1.23,-146.6,777.1,-8.3,385,7972,0.15,2.45,0.00,0.000,6,0.047,0.041,2083,2597,3417
$STATE,8079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8079,begin apogee
$GC,8086,-0.31,0.0,788.8,10.5,391,8222,1.02,0.00,129.90,1.068,6,0.103,0.000,2289,2304,2816
$STATE,8222,end apogee,CONTROL_FINISHED_OK
$STATE,8222,begin climb
$GC,8225,1.03,146.6,793.0,0.0,398,8364,1.35,2.58,131.12,1.059,4,0.070,0.048,2578,906,2218
$GC,8474,0.93,160.2,782.9,7.0,408,8494,0.00,2.50,13.00,0.936,6,0.000,0.038,2578,2306,2162
$GC,8811,0.86,160.2,759.5,8.7,425,8813,0.17,0.00,0.00,0.000,6,0.093,0.000,2545,2306,2158
$GC,9121,0.83,185.7,737.8,6.6,440,9151,0.00,2.70,23.20,0.983,4,0.000,0.065,2545,3695,2060
$GC,9225,0.78,185.7,730.4,7.7,444,9231,0.00,2.45,0.00,0.000,6,0.000,0.032,2544,2306,2058
$GC,9541,0.86,262.2,711.6,4.9,460,9618,0.00,2.62,71.47,1.014,4,0.000,0.051,2544,895,1747
$GC,9684,0.97,284.5,702.7,6.7,465,9712,0.12,2.50,21.20,0.954,6,0.051,0.037,2581,2304,1656
$GC,10021,0.97,284.5,673.3,8.6,482,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2304,1649
$GC,10330,0.97,284.5,647.6,8.0,497,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2304,1648
$GC,10639,0.97,284.5,620.2,9.7,512,10643,0.00,2.55,0.00,0.000,4,0.000,0.047,2581,890,1647
$GC,10690,0.97,284.5,614.8,10.7,514,10694,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2299,1646
$GC,11011,0.97,284.5,576.3,13.0,530,11016,0.00,2.60,0.00,0.000,4,0.000,0.061,2581,3704,1646
$GC,11056,0.97,284.5,569.9,14.0,532,11060,0.00,2.45,0.00,0.000,6,0.000,0.028,2582,2291,1646
$GC,11382,0.97,284.5,526.2,13.2,548,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2291,1646
$GC,11691,0.97,284.5,487.6,12.4,563,11695,0.00,2.50,0.00,0.000,4,0.000,0.048,2582,898,1645
$GC,11740,0.97,284.5,480.9,13.1,565,11745,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2303,1645
$GC,12056,0.97,284.5,440.6,12.9,580,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2302,1645
$GC,12365,0.97,284.5,400.0,12.8,595,12369,0.00,2.53,0.00,0.000,4,0.000,0.044,2582,888,1645
$GC,12398,0.97,284.5,395.7,12.5,596,12402,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2300,1645
$GC,12720,0.97,284.5,355.6,12.2,612,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2300,1645
$GC,13029,0.97,284.5,320.6,10.9,627,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2300,1645
$GC,13338,0.97,284.5,287.9,10.7,642,13342,0.00,2.50,0.00,0.000,4,0.000,0.044,2582,897,1645
$GC,13377,0.97,284.5,283.5,10.6,644,13381,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2305,1645
$GC,13704,0.97,284.5,253.3,8.6,660,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1645
$GC,14013,0.97,284.5,227.7,7.6,675,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1645
$GC,14322,0.97,284.5,202.6,8.3,690,14327,0.00,2.53,0.00,0.000,4,0.000,0.043,2582,890,1645
$GC,14367,0.97,284.5,198.6,9.3,692,14371,0.00,2.45,0.00,0.000,6,0.000,0.034,2582,2301,1645
$GC,14687,0.97,284.5,169.4,9.7,708,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1645
$GC,14999,0.97,284.5,138.3,10.5,723,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1645
$GC,15307,0.97,284.5,104.3,10.7,738,15308,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2301,1645
$GC,15616,1.01,284.5,73.2,9.7,753,15620,0.00,2.50,0.00,0.000,4,0.000,0.044,2582,896,1645
$GC,15649,1.06,284.5,70.0,9.9,754,15655,0.00,2.42,0.00,0.000,6,0.000,0.034,2582,2299,1645
$GC,15967,1.10,284.5,42.1,8.2,770,15971,0.00,2.58,0.00,0.000,4,0.000,0.058,2581,3707,1646
$GC,16017,1.10,284.5,37.3,9.0,772,16021,0.00,2.42,0.00,0.000,6,0.000,0.028,2581,2297,1646
$GC,16334,1.14,284.5,10.6,8.5,787,16336,0.12,0.00,0.00,0.000,6,0.048,0.000,2621,2295,1646
$STATE,16412,end climb,SURFACE_DEPTH_REACHED
$STATE,16412,begin surface coast
$FINISH,0.7,1.026664
$STATE,16436,end surface coast,CONTROL_FINISHED_OK
$STATE,16436,begin surface
$SM_CCo,16520,0.00,0.000,0,0,1643,287.98
$SM_GC,1.70,12.05,0.00,0.00,0.084,0.000,0.000,62,2600,1643,-10.47,0.03,287.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1731
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.3,23.2
$24V_AH,23.6,21.474
$10V_AH,10.1,10.492
$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,27.225,114.625,389.900,0.000,0.000,18.015,27.434,120.552,7.000,0.000,0.000,17.577,1431.818,12816.308,472.290,1667.134,412.050,0.000,1324.339,0.000,1620.555,0.000,49.157,0.000
$DEVICE_MAMPS,183.313,65.195,1067.664,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.811,545.417,463.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41125,792
$CAP_FILE_SIZE,113079,0
$CFSIZE,260165632,252014592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260609,105136,6337.047,-1315.762,38,1.0,38,-12.4