version: 66.03
glider: 16
mission: 9
dive: 76
start: 6 23 108 11 6 4
data:
$ID,16
$MISSION,9
$DIVE,76
$D_SURF,2
$D_FLARE,3
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,1
$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,557.32159
$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,-2094377.2
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$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,20
$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
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,105607,6118.892,-746.594,37,1.6,43,-8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.7
$GPS2,110511,6118.990,-746.521,16,2.1,35,-8.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.190,-0.114
$KALMAN_X,-85316.1,1113.9,-22079.1,-28895.5,1105.4
$KALMAN_Y,-46304.1,528.5,-12648.3,116443.9,6572.7
$MHEAD_RNG_PITCHd_Wd,307.6,41945,-11.0,-6.000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.65,0.000,2,0.000,0.000,64,2309,2958
$GC,150,-0.85,-146.6,3.5,-2.7,6,180,11.45,2.75,-10.60,0.000,4,0.169,0.089,2108,3715,3378
$GC,265,-0.64,-146.6,19.8,-11.2,11,270,0.25,2.65,0.00,0.000,6,0.094,0.061,2157,2296,3379
$GC,588,-0.60,-146.6,46.8,-8.1,27,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2296,3379
$GC,896,-0.54,-146.6,69.8,-7.9,42,901,0.12,2.67,0.00,0.000,4,0.102,0.069,2180,874,3379
$GC,969,-0.63,-146.6,75.1,-7.0,45,973,0.00,2.65,0.00,0.000,6,0.000,0.058,2180,2299,3379
$GC,1285,-0.63,-146.6,97.8,-7.6,60,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2299,3379
$GC,1594,-0.63,-146.6,116.9,-6.0,75,1598,0.00,2.67,0.00,0.000,4,0.000,0.067,2180,873,3379
$GC,1656,-0.72,-146.6,121.0,-6.8,78,1661,0.17,2.65,0.00,0.000,6,0.040,0.058,2126,2303,3379
$GC,1983,-0.59,-146.6,152.9,-9.7,94,1985,0.22,0.00,0.00,0.000,6,0.084,0.000,2171,2303,3379
$GC,2293,-0.59,-146.6,175.1,-7.1,109,2297,0.00,2.67,0.00,0.000,4,0.000,0.068,2171,878,3379
$GC,2359,-0.65,-146.6,180.6,-8.3,112,2364,0.00,2.65,0.00,0.000,6,0.000,0.058,2171,2306,3379
$GC,2681,-0.65,-146.6,207.7,-8.6,128,2685,0.00,2.70,0.00,0.000,4,0.000,0.069,2171,872,3379
$GC,2714,-0.71,-146.6,210.7,-8.9,129,2720,0.12,2.65,0.00,0.000,6,0.046,0.058,2129,2302,3379
$GC,3030,-0.59,-146.6,244.2,-10.5,145,3035,0.17,2.67,0.00,0.000,4,0.087,0.071,2167,880,3379
$GC,3080,-0.64,-146.6,248.8,-8.4,147,3084,0.00,2.62,0.00,0.000,6,0.000,0.058,2167,2300,3379
$GC,3395,-0.64,-146.6,273.8,-7.4,162,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2300,3379
$GC,3705,-0.64,-146.6,297.5,-7.5,177,3709,0.00,2.67,0.00,0.000,4,0.000,0.071,2167,879,3379
$GC,3783,-0.70,-146.6,303.4,-7.3,180,3789,0.00,2.62,0.00,0.000,6,0.000,0.059,2167,2301,3379
$GC,4101,-0.70,-146.6,325.4,-6.9,196,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2301,3379
$GC,4408,-0.70,-146.6,347.3,-7.8,211,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2301,3379
$GC,4717,-0.70,-146.6,372.7,-8.6,226,4721,0.00,2.67,0.00,0.000,4,0.000,0.071,2167,875,3379
$GC,4802,-0.78,-146.6,379.9,-8.3,230,4807,0.17,2.62,0.00,0.000,6,0.041,0.058,2114,2302,3379
$GC,5129,-0.64,-146.6,411.8,-9.2,246,5131,0.22,0.00,0.00,0.000,6,0.085,0.000,2158,2302,3379
$GC,5438,-0.64,-146.6,432.7,-6.3,261,5442,0.00,2.67,0.00,0.000,4,0.000,0.071,2159,880,3379
$GC,5482,-0.69,-146.6,435.9,-7.0,263,5487,0.00,2.62,0.00,0.000,6,0.000,0.059,2159,2301,3379
$GC,5803,-0.69,-146.6,456.4,-6.5,279,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2301,3379
$GC,6113,-0.69,-146.6,477.6,-7.0,294,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2301,3378
$GC,6423,-0.69,-146.6,496.3,-5.6,309,6427,0.00,2.70,0.00,0.000,4,0.000,0.074,2159,877,3378
$GC,6490,-0.75,-146.6,500.3,-6.5,312,6495,0.12,2.65,0.00,0.000,6,0.048,0.062,2120,2300,3378
$GC,6812,-0.66,-146.6,524.9,-7.9,328,6813,0.17,0.00,0.00,0.000,6,0.089,0.000,2155,2300,3377
$GC,7120,-0.66,-146.6,545.1,-6.3,343,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2300,3376
$GC,7429,-0.66,-146.6,565.9,-7.0,358,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2300,3376
$GC,7739,-0.66,-146.6,586.5,-6.5,373,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2300,3374
$GC,8048,-0.66,-146.6,606.9,-6.8,388,8052,0.00,2.72,0.00,0.000,4,0.000,0.080,2154,877,3373
$GC,8088,-0.71,-146.6,609.7,-7.5,390,8092,0.00,2.67,0.00,0.000,6,0.000,0.070,2154,2302,3372
$GC,8414,-0.71,-146.6,633.1,-7.3,406,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3372
$GC,8724,-0.71,-146.6,656.9,-7.2,421,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2302,3370
$GC,9033,-0.71,-146.6,676.8,-6.2,436,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3368
$GC,9342,-0.71,-146.6,697.3,-6.4,451,9347,0.00,2.72,0.00,0.000,4,0.000,0.081,2154,884,3368
$GC,9376,-0.78,-146.6,699.7,-7.4,452,9382,0.12,2.67,0.00,0.000,6,0.057,0.069,2120,2299,3367
$GC,9694,-0.68,-146.6,727.0,-9.2,468,9695,0.15,0.00,0.00,0.000,6,0.102,0.000,2148,2299,3366
$GC,10001,-0.68,-146.6,749.6,-7.3,483,10005,0.00,2.70,0.00,0.000,4,0.000,0.081,2148,885,3365
$STATE,10053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10053,begin apogee
$GC,10063,-0.31,0.0,753.2,6.7,485,10197,0.40,0.00,131.15,1.190,6,0.106,0.000,2228,2202,2781
$STATE,10198,end apogee,CONTROL_FINISHED_OK
$STATE,10198,begin climb
$GC,10201,0.85,146.6,758.2,0.0,492,10338,1.25,0.00,133.27,1.167,6,0.089,0.000,2482,2202,2183
$GC,10642,0.85,153.2,743.9,5.8,514,10656,0.00,2.80,7.45,0.955,4,0.000,0.080,2482,785,2156
$GC,10720,0.90,193.2,739.7,4.9,517,10764,0.00,2.70,37.20,1.139,6,0.000,0.067,2482,2202,1993
$GC,11083,0.92,210.7,719.1,5.5,535,11106,0.00,2.85,17.12,1.089,4,0.000,0.095,2482,3613,1921
$GC,11123,0.96,210.7,716.0,7.9,536,11130,0.12,2.72,0.00,0.000,6,0.064,0.073,2513,2200,1921
$GC,11439,0.92,210.7,692.6,6.8,552,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2200,1920
$GC,11748,0.86,210.7,669.4,7.0,567,11750,0.15,0.00,0.00,0.000,6,0.097,0.000,2484,2200,1920
$GC,12057,0.86,210.7,650.0,6.5,582,12062,0.00,2.78,0.00,0.000,4,0.000,0.094,2484,3613,1919
$GC,12101,0.86,210.7,646.8,7.2,584,12106,0.00,2.70,0.00,0.000,6,0.000,0.074,2484,2200,1919
$GC,12422,0.86,210.7,626.1,6.3,600,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2200,1919
$GC,12732,0.87,221.1,607.8,5.7,615,12747,0.00,2.85,10.30,0.999,4,0.000,0.095,2484,3615,1878
$GC,12775,0.87,221.1,605.1,6.1,616,12780,0.00,2.70,0.00,0.000,6,0.000,0.074,2484,2200,1878
$GC,13097,0.89,237.9,587.0,5.5,632,13116,0.00,0.00,16.33,1.046,6,0.000,0.000,2484,2200,1811
$GC,13426,0.89,240.0,567.8,5.9,648,13435,0.00,2.80,3.72,0.684,4,0.000,0.095,2484,3614,1802
$GC,13464,0.89,240.0,565.2,6.6,649,13470,0.00,2.72,0.00,0.000,6,0.000,0.074,2484,2194,1802
$GC,13780,0.89,240.2,547.0,6.0,665,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2191,1801
$GC,14090,0.91,256.3,529.7,5.6,680,14109,0.00,0.00,15.68,1.013,6,0.000,0.000,2484,2191,1736
$GC,14419,0.99,328.5,513.6,4.0,696,14489,0.15,2.80,63.67,1.063,4,0.058,0.084,2522,780,1440
$GC,14554,0.94,328.5,505.9,6.2,702,14558,0.00,2.72,0.00,0.000,6,0.000,0.067,2522,2206,1439
$GC,14874,0.89,328.5,486.1,6.3,718,14880,0.15,2.78,0.00,0.000,4,0.101,0.096,2489,3614,1439
$GC,14925,0.95,328.5,482.9,6.5,720,14929,0.00,2.70,0.00,0.000,6,0.000,0.074,2489,2201,1439
$GC,15241,1.00,338.2,466.1,5.7,735,15253,0.12,0.00,9.75,0.912,6,0.058,0.000,2523,2201,1402
$GC,15549,1.00,338.2,441.1,9.0,750,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2202,1402
$GC,15858,1.00,338.2,413.9,8.3,765,15863,0.00,2.72,0.00,0.000,4,0.000,0.083,2523,779,1402
$GC,15908,1.00,338.2,409.5,9.1,767,15913,0.00,2.67,0.00,0.000,6,0.000,0.063,2523,2200,1402
$GC,16224,0.96,338.2,381.9,8.9,782,16229,0.00,2.78,0.00,0.000,4,0.000,0.094,2523,3617,1402
$GC,16264,0.96,338.2,378.0,9.9,784,16269,0.00,2.72,0.00,0.000,6,0.000,0.074,2523,2194,1402
$GC,16591,0.96,338.2,345.4,11.1,800,16595,0.00,2.70,0.00,0.000,4,0.000,0.081,2523,785,1402
$GC,16640,0.96,338.2,339.7,11.2,802,16644,0.00,2.65,0.00,0.000,6,0.000,0.060,2523,2203,1401
$GC,16956,0.96,338.2,311.1,8.0,817,16957,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2203,1402
$GC,17265,0.96,338.2,288.1,7.6,832,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2203,1403
$GC,17574,0.96,338.2,268.3,7.4,847,17578,0.00,2.72,0.00,0.000,4,0.000,0.087,2523,3616,1404
$GC,17613,0.96,338.2,264.7,10.1,849,17618,0.00,2.70,0.00,0.000,6,0.000,0.071,2523,2197,1404
$GC,17939,0.96,338.2,236.3,8.9,865,17944,0.00,2.67,0.00,0.000,4,0.000,0.075,2523,782,1405
$GC,17972,0.96,338.2,233.4,8.2,866,17978,0.00,2.62,0.00,0.000,6,0.000,0.057,2523,2201,1405
$GC,18288,0.96,338.2,206.2,8.4,882,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2201,1405
$GC,18597,0.96,338.2,182.2,7.6,897,18601,0.00,2.67,0.00,0.000,4,0.000,0.071,2523,781,1406
$GC,18629,0.96,338.2,179.8,6.8,898,18635,0.00,2.62,0.00,0.000,6,0.000,0.056,2525,2203,1406
$GC,18945,0.96,338.2,156.4,8.1,914,18949,0.00,2.70,0.00,0.000,4,0.000,0.084,2523,3614,1407
$GC,18972,0.96,338.2,153.9,8.9,915,18976,0.00,2.67,0.00,0.000,6,0.000,0.067,2523,2192,1407
$GC,19288,0.96,338.2,121.3,11.1,930,19289,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,1408
$GC,19598,0.96,338.2,90.8,9.5,945,19599,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,1408
$GC,19906,0.96,338.2,61.1,9.3,960,19907,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,1409
$GC,20215,0.96,338.2,30.6,9.7,975,20216,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2192,1410
$GC,20525,0.96,338.2,3.9,8.4,990,20534,0.00,2.75,3.65,0.416,4,0.000,0.079,2523,3616,1402
$STATE,20544,end climb,SURFACE_DEPTH_REACHED
$STATE,20544,begin surface coast
$FINISH,0.7,1.027133
$STATE,20561,end surface coast,CONTROL_FINISHED_OK
$STATE,20561,begin surface
$SM_CCo,20585,106.25,0.608,0,0,509,557.32
$SM_GC,1.39,0.00,0.00,106.25,0.000,0.000,0.608,67,2292,509,-10.27,-0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1841
$TCM_TEMP,19.70
$XPDR_PINGS,51
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,725.3,37.9
$24V_AH,23.5,15.593
$10V_AH,10.1,7.940
$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
$DEVICE_SECS,26.400,150.825,449.300,106.250,0.000,36.157,140.678,160.936,19.500,0.000,0.000,38.131,1775.642,16046.858,748.379,2024.873,639.056,33.366,1750.988,0.000,1956.865,0.000,47.342
$DEVICE_MAMPS,168.740,95.875,1190.384,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,733.435,675.807,572.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50647,991
$CAP_FILE_SIZE,142393,0
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,230608,165240,6122.212,-754.155,62,1.9,65,-8.6