version: 66.04
glider: 16
mission: 13
dive: 114
start: 6 26 109 15 58 0
data:
$ID,16
$MISSION,13
$DIVE,114
$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,-2109652.8
$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,28
$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
$GPS1,154608,6340.036,-1310.944,41,1.6,42,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.0
$GPS2,155743,6339.951,-1310.954,10,1.2,15,-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,14.8,18627,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-57.35,0.000,6,0.000,0.000,73,2603,3414
$GC,82,-1.03,-146.6,6.7,-12.0,3,104,12.07,2.35,0.00,0.000,4,0.189,0.058,2132,3857,3416
$GC,222,-0.99,-146.6,33.7,-11.6,9,226,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2577,3417
$GC,544,-0.99,-146.6,67.3,-9.7,25,548,0.00,2.40,0.00,0.000,4,0.000,0.039,2132,1212,3417
$GC,606,-0.99,-146.6,73.9,-10.7,28,611,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2602,3418
$GC,933,-0.99,-146.6,110.1,-10.8,44,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3417
$GC,1245,-0.99,-146.6,137.8,-8.0,59,1249,0.00,2.45,0.00,0.000,4,0.000,0.038,2132,1211,3418
$GC,1300,-0.99,-146.6,142.8,-8.8,61,1306,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2607,3417
$GC,1615,-0.99,-146.6,168.7,-8.8,77,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3417
$GC,1925,-0.99,-146.6,198.9,-9.9,92,1929,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1212,3418
$GC,1969,-0.99,-146.6,203.8,-10.4,94,1973,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2601,3417
$GC,2290,-0.99,-146.6,236.2,-10.2,110,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,2599,-0.99,-146.6,267.9,-10.8,125,2603,0.00,2.45,0.00,0.000,4,0.000,0.039,2132,1210,3417
$GC,2639,-0.99,-146.6,272.1,-10.3,127,2643,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2606,3418
$GC,2965,-0.99,-146.6,306.5,-10.5,143,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3417
$GC,3275,-0.99,-146.6,336.1,-9.1,158,3279,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1211,3416
$GC,3308,-1.03,-146.6,339.2,-9.2,159,3314,0.00,2.45,0.00,0.000,6,0.000,0.037,2132,2608,3416
$GC,3624,-1.03,-146.6,364.6,-8.0,175,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2608,3416
$GC,3933,-1.03,-146.6,392.4,-9.2,190,3937,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1209,3416
$GC,3983,-1.08,-146.6,397.1,-9.4,192,3987,0.00,2.45,0.00,0.000,6,0.000,0.036,2132,2606,3416
$GC,4304,-1.08,-146.6,425.6,-8.5,208,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3416
$GC,4615,-1.08,-146.6,451.0,-8.1,223,4619,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1212,3416
$GC,4649,-1.12,-146.6,454.1,-7.7,224,4655,0.00,2.45,0.00,0.000,6,0.000,0.037,2133,2609,3416
$GC,4964,-1.12,-146.6,480.4,-8.4,240,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3415
$GC,5274,-1.12,-146.6,504.8,-7.6,255,5278,0.00,2.45,0.00,0.000,4,0.000,0.040,2132,1212,3416
$GC,5323,-1.17,-146.6,508.5,-7.9,257,5328,0.12,2.42,0.00,0.000,6,0.046,0.037,2093,2601,3416
$GC,5639,-1.07,-146.6,539.5,-10.4,272,5641,0.17,0.00,0.00,0.000,6,0.095,0.000,2127,2602,3416
$GC,5948,-1.07,-146.6,565.8,-8.7,287,5953,0.00,2.45,0.00,0.000,4,0.000,0.040,2127,1206,3415
$GC,5988,-1.07,-146.6,569.4,-9.0,289,5992,0.00,2.45,0.00,0.000,6,0.000,0.038,2127,2605,3415
$GC,6315,-1.07,-146.6,599.9,-9.4,305,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3415
$GC,6624,-1.07,-146.6,624.6,-7.6,320,6629,0.00,2.45,0.00,0.000,4,0.000,0.041,2127,1212,3415
$GC,6658,-1.07,-146.6,627.0,-7.1,321,6664,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2608,3415
$GC,6974,-1.07,-146.6,648.2,-6.4,337,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2608,3415
$GC,7283,-1.07,-146.6,666.2,-6.4,352,7287,0.00,2.45,0.00,0.000,4,0.000,0.040,2127,1212,3415
$GC,7339,-1.12,-146.6,670.4,-8.0,354,7345,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2607,3415
$GC,7655,-1.12,-146.6,699.3,-10.4,370,7659,0.00,2.45,0.00,0.000,4,0.000,0.041,2126,1208,3415
$GC,7700,-1.18,-146.6,704.1,-10.3,372,7705,0.12,2.45,0.00,0.000,6,0.048,0.040,2088,2600,3415
$GC,8029,-1.10,-146.6,742.0,-10.9,388,8030,0.15,0.00,0.00,0.000,6,0.099,0.000,2117,2600,3414
$STATE,8230,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8230,begin apogee
$GC,8237,-0.31,0.0,760.5,7.6,398,8373,0.85,0.00,129.18,1.051,6,0.101,0.000,2289,2302,2817
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8376,1.03,146.6,765.7,0.0,405,8520,1.35,2.72,131.80,1.042,4,0.071,0.065,2579,3704,2218
$GC,8582,0.89,171.2,761.5,6.7,414,8611,0.15,2.47,22.83,0.986,6,0.099,0.032,2552,2307,2119
$GC,8919,0.92,202.3,739.3,6.4,431,8950,0.00,0.00,28.62,0.994,6,0.000,0.000,2551,2307,1992
$GC,9248,0.95,226.8,715.3,6.7,447,9277,0.00,2.67,24.02,0.976,4,0.000,0.064,2552,3702,1891
$GC,9311,0.96,234.3,710.9,7.2,450,9328,0.00,2.47,8.30,0.843,6,0.000,0.031,2552,2300,1860
$GC,9637,0.97,242.8,688.5,7.2,466,9651,0.00,2.60,8.90,0.854,4,0.000,0.051,2551,892,1827
$GC,9766,1.01,242.8,677.8,8.6,471,9772,0.12,2.50,0.00,0.000,6,0.051,0.035,2588,2306,1823
$GC,10081,0.96,242.8,647.5,10.4,487,10086,0.00,2.55,0.00,0.000,4,0.000,0.048,2588,895,1823
$GC,10160,0.90,242.8,638.3,11.7,490,10167,0.17,2.47,0.00,0.000,6,0.093,0.035,2554,2305,1821
$GC,10476,0.90,242.8,601.0,13.0,506,10480,0.00,2.58,0.00,0.000,4,0.000,0.062,2554,3698,1822
$GC,10515,0.90,242.8,595.5,13.4,508,10520,0.00,2.45,0.00,0.000,6,0.000,0.028,2554,2293,1822
$GC,10842,0.95,242.8,557.7,10.2,524,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,1822
$GC,11151,1.00,242.8,525.7,10.5,539,11153,0.10,0.00,0.00,0.000,6,0.053,0.000,2586,2292,1821
$GC,11460,1.00,242.8,490.2,10.9,554,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2292,1821
$GC,11769,1.00,242.8,457.0,10.6,569,11774,0.00,2.60,0.00,0.000,4,0.000,0.059,2586,3701,1821
$GC,11810,0.93,242.8,452.6,10.8,571,11815,0.12,2.42,0.00,0.000,6,0.097,0.029,2562,2298,1821
$GC,12137,0.93,242.8,422.6,8.9,587,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2297,1822
$GC,12446,0.93,242.8,396.7,8.2,602,12450,0.00,2.50,0.00,0.000,4,0.000,0.047,2562,896,1821
$GC,12490,0.93,242.8,392.7,9.0,604,12494,0.00,2.45,0.00,0.000,6,0.000,0.034,2562,2300,1821
$GC,12811,0.93,242.8,367.6,7.9,620,12815,0.00,2.58,0.00,0.000,4,0.000,0.059,2562,3704,1821
$GC,12850,0.93,242.8,364.2,8.8,622,12854,0.00,2.42,0.00,0.000,6,0.000,0.029,2562,2297,1821
$GC,13176,0.93,242.8,336.3,9.3,638,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2297,1821
$GC,13486,0.97,242.8,308.5,8.8,653,13490,0.00,2.50,0.00,0.000,4,0.000,0.046,2562,893,1821
$GC,13536,1.02,242.8,303.8,9.1,655,13540,0.00,2.45,0.00,0.000,6,0.000,0.034,2562,2302,1821
$GC,13851,1.02,242.8,274.6,9.0,670,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2302,1821
$GC,14161,1.07,242.8,246.8,8.7,685,14163,0.12,0.00,0.00,0.000,6,0.049,0.000,2600,2302,1821
$GC,14470,1.02,242.8,215.4,9.9,700,14474,0.00,2.55,0.00,0.000,4,0.000,0.058,2601,3701,1821
$GC,14504,0.92,242.8,211.9,10.4,701,14509,0.20,2.40,0.00,0.000,6,0.091,0.028,2561,2298,1821
$GC,14821,0.97,242.8,185.7,8.3,716,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2298,1821
$GC,15129,1.03,242.8,157.8,9.3,731,15131,0.10,0.00,0.00,0.000,6,0.052,0.000,2593,2297,1821
$GC,15438,1.03,242.8,124.1,10.9,746,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2296,1822
$GC,15749,1.03,242.8,92.0,10.1,761,15750,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2297,1821
$GC,16057,1.03,242.8,60.1,10.8,776,16061,0.00,2.58,0.00,0.000,4,0.000,0.057,2593,3705,1822
$GC,16142,0.97,242.8,49.8,12.3,780,16147,0.12,2.42,0.00,0.000,6,0.094,0.029,2570,2297,1822
$GC,16469,1.01,242.8,17.9,9.3,796,16473,0.00,2.47,0.00,0.000,4,0.000,0.044,2570,898,1822
$GC,16510,1.06,242.8,14.0,9.7,798,16514,0.00,2.42,0.00,0.000,6,0.000,0.033,2570,2302,1821
$STATE,16648,end climb,SURFACE_DEPTH_REACHED
$STATE,16648,begin surface coast
$FINISH,0.7,1.003902
$STATE,16672,end surface coast,CONTROL_FINISHED_OK
$STATE,16672,begin surface
$SM_CCo,16695,2.78,0.290,0,0,1797,250.21
$SM_GC,2.75,0.00,0.00,2.78,0.000,0.000,0.290,80,2600,1797,-10.48,0.00,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1746
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.1,43.9
$24V_AH,23.6,21.733
$10V_AH,10.1,10.645
$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,28.150,124.525,353.650,2.775,0.000,69.831,91.684,285.633,6.500,0.000,0.000,14.984,1464.641,13046.826,493.890,1673.372,716.799,0.000,1327.868,0.000,1631.051,0.000,46.590,0.000
$DEVICE_MAMPS,188.682,65.195,1050.790,289.926,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.121,555.142,467.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41203,806
$CAP_FILE_SIZE,124794,0
$CFSIZE,260165632,251891712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260609,203737,6340.905,-1313.271,39,1.1,39,-12.4