version: 66.03
glider: 16
mission: 9
dive: 77
start: 6 23 108 17 0 4
data:
$ID,16
$MISSION,9
$DIVE,77
$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,-2094415.4
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,165240,6122.212,-754.155,62,1.9,65,-8.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-52.8
$GPS2,165911,6122.271,-754.223,17,3.4,36,-8.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.190,0.113
$KALMAN_X,-80062.2,1004.5,-28019.4,-35048.3,-170658.9
$KALMAN_Y,-35812.3,403.2,-12979.1,112485.1,-68602.8
$MHEAD_RNG_PITCHd_Wd,304.2,33104,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,131,0.00,0.00,-105.82,0.000,2,0.000,0.000,64,2291,2617
$GC,135,-0.85,-146.6,3.0,-1.8,6,179,11.40,2.78,-26.48,0.000,4,0.168,0.091,2107,3713,3380
$GC,218,-0.62,-146.6,10.4,-11.5,9,226,0.28,2.62,0.00,0.000,6,0.094,0.059,2161,2298,3380
$GC,534,-0.62,-146.6,35.5,-7.4,25,538,0.00,2.65,0.00,0.000,4,0.000,0.069,2161,884,3380
$GC,612,-0.62,-146.6,41.4,-7.2,28,618,0.00,2.62,0.00,0.000,6,0.000,0.060,2160,2300,3380
$GC,928,-0.62,-146.6,60.7,-5.7,44,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2300,3380
$GC,1237,-0.62,-146.6,83.4,-8.0,59,1241,0.00,2.67,0.00,0.000,4,0.000,0.068,2160,880,3381
$GC,1315,-0.62,-146.6,89.5,-7.3,62,1321,0.00,2.62,0.00,0.000,6,0.000,0.059,2160,2302,3381
$GC,1631,-0.62,-146.6,112.0,-7.7,78,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2302,3381
$GC,1940,-0.62,-146.6,139.0,-9.5,93,1944,0.00,2.67,0.00,0.000,4,0.000,0.067,2160,878,3381
$GC,2006,-0.62,-146.6,145.6,-9.9,96,2011,0.00,2.65,0.00,0.000,6,0.000,0.059,2160,2305,3381
$GC,2327,-0.62,-146.6,171.3,-6.8,112,2332,0.00,2.67,0.00,0.000,4,0.000,0.067,2159,883,3381
$GC,2377,-0.62,-146.6,174.8,-7.2,114,2385,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2304,3381
$GC,2701,-0.62,-146.6,194.0,-5.9,130,2706,0.00,2.67,0.00,0.000,4,0.000,0.069,2160,881,3381
$GC,2802,-0.62,-146.6,200.8,-7.2,134,2808,0.00,2.65,0.00,0.000,6,0.000,0.059,2160,2305,3380
$GC,3117,-0.62,-146.6,222.8,-7.2,150,3122,0.00,2.67,0.00,0.000,4,0.000,0.069,2161,883,3381
$GC,3190,-0.62,-146.6,227.9,-6.9,153,3194,0.00,2.62,0.00,0.000,6,0.000,0.058,2160,2302,3381
$GC,3505,-0.62,-146.6,251.8,-8.0,168,3510,0.00,2.67,0.00,0.000,4,0.000,0.068,2161,876,3381
$GC,3533,-0.67,-146.6,254.3,-8.9,169,3538,0.00,2.62,0.00,0.000,6,0.000,0.057,2161,2298,3381
$GC,3850,-0.67,-146.6,275.6,-6.0,184,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2299,3381
$GC,4158,-0.67,-146.6,293.9,-5.6,199,4163,0.00,2.70,0.00,0.000,4,0.000,0.082,2161,3714,3381
$GC,4192,-0.67,-146.6,295.6,-5.4,200,4199,0.00,2.62,0.00,0.000,6,0.000,0.064,2161,2299,3381
$GC,4508,-0.67,-146.6,307.5,-3.0,216,4513,0.00,2.67,0.00,0.000,4,0.000,0.072,2161,876,3381
$GC,4604,-0.71,-146.6,310.4,-3.6,220,4609,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2306,3381
$GC,4920,-0.71,-146.6,321.1,-3.4,235,4925,0.00,2.70,0.00,0.000,4,0.000,0.073,2161,878,3381
$GC,4965,-0.76,-146.6,322.6,-3.1,237,4970,0.12,2.62,0.00,0.000,6,0.048,0.058,2120,2300,3381
$GC,5286,-0.62,-146.6,339.1,-6.2,253,5291,0.17,2.70,0.00,0.000,4,0.088,0.074,2158,878,3381
$GC,5331,-0.66,-146.6,341.8,-5.3,255,5336,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2303,3381
$GC,5652,-0.66,-146.6,365.2,-9.0,271,5657,0.00,2.70,0.00,0.000,4,0.000,0.074,2158,875,3380
$GC,5685,-0.72,-146.6,368.5,-9.4,272,5691,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2298,3380
$GC,6001,-0.72,-146.6,410.2,-12.9,288,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2299,3380
$GC,6310,-0.72,-146.6,430.7,-4.3,303,6315,0.00,2.67,0.00,0.000,4,0.000,0.074,2158,884,3379
$GC,6356,-0.77,-146.6,432.5,-4.0,305,6361,0.12,2.62,0.00,0.000,6,0.049,0.059,2119,2303,3379
$GC,6678,-0.65,-146.6,446.7,-4.9,321,6683,0.17,2.70,0.00,0.000,4,0.091,0.076,2156,885,3379
$GC,6723,-0.70,-146.6,448.7,-3.9,323,6728,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2299,3379
$GC,7045,-0.70,-146.6,464.5,-5.8,339,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3378
$GC,7354,-0.70,-146.6,486.0,-7.6,354,7358,0.00,2.70,0.00,0.000,4,0.000,0.077,2156,885,3378
$GC,7420,-0.76,-146.6,491.0,-7.5,357,7425,0.00,2.65,0.00,0.000,6,0.000,0.063,2156,2300,3377
$GC,7741,-0.76,-146.6,512.8,-6.1,373,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2300,3376
$GC,8051,-0.76,-146.6,532.6,-5.9,388,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2300,3375
$GC,8360,-0.76,-146.6,551.8,-6.2,403,8362,0.10,0.00,0.00,0.000,6,0.059,0.000,2126,2300,3373
$GC,8669,-0.68,-146.6,575.0,-7.3,418,8677,0.12,2.70,0.00,0.000,4,0.100,0.081,2150,889,3373
$GC,8751,-0.73,-146.6,579.4,-5.0,421,8755,0.00,2.65,0.00,0.000,6,0.000,0.067,2150,2304,3373
$GC,9067,-0.73,-146.6,592.8,-3.1,436,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2304,3372
$GC,9377,-0.73,-146.6,598.6,-2.1,451,9381,0.00,2.72,0.00,0.000,4,0.000,0.082,2150,886,3370
$GC,9416,-0.73,-146.6,599.9,-3.3,453,9424,0.00,2.65,0.00,0.000,6,0.000,0.068,2151,2303,3370
$GC,9751,-0.73,-146.6,608.8,-3.1,469,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2303,3369
$GC,10061,-0.73,-146.6,620.2,-3.1,484,10065,0.00,2.72,0.00,0.000,4,0.000,0.082,2150,886,3368
$GC,10111,-0.78,-146.6,621.8,-3.2,486,10116,0.00,2.67,0.00,0.000,6,0.000,0.070,2150,2308,3367
$GC,10427,-0.78,-146.6,635.4,-4.7,501,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2308,3367
$GC,10736,-0.78,-146.6,654.6,-7.0,516,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2308,3366
$GC,11045,-0.78,-146.6,673.9,-6.9,531,11050,0.00,2.75,0.00,0.000,4,0.000,0.082,2150,880,3365
$GC,11087,-0.84,-146.6,676.8,-7.9,533,11092,0.15,2.67,0.00,0.000,6,0.054,0.070,2110,2298,3365
$GC,11415,-0.72,-146.6,705.4,-9.0,549,11420,0.15,2.72,0.00,0.000,4,0.104,0.084,2141,886,3364
$GC,11472,-0.77,-146.6,710.6,-8.5,551,11478,0.00,2.67,0.00,0.000,6,0.000,0.071,2141,2301,3364
$STATE,11496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11496,begin apogee
$GC,11503,-0.31,0.0,712.5,7.3,553,11639,0.45,0.00,130.68,1.182,6,0.118,0.000,2227,2197,2781
$STATE,11640,end apogee,CONTROL_FINISHED_OK
$STATE,11640,begin climb
$GC,11643,0.85,146.6,721.0,0.0,560,11780,1.27,0.00,132.85,1.155,6,0.095,0.000,2483,2197,2183
$GC,12093,0.92,216.2,705.8,4.1,582,12158,0.00,0.00,63.53,1.139,6,0.000,0.000,2483,2197,1899
$GC,12459,1.02,310.5,687.8,3.4,600,12547,0.17,0.00,85.60,1.138,6,0.058,0.000,2527,2197,1515
$GC,12848,1.02,310.5,659.0,7.1,619,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,1514
$GC,13157,1.02,310.5,632.2,9.0,634,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,1513
$GC,13466,1.02,310.5,607.7,8.6,649,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,1513
$GC,13775,1.02,310.5,582.6,8.3,664,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,1513
$GC,14085,1.02,310.5,554.0,9.8,679,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2197,1512
$GC,14394,1.02,310.5,520.8,11.2,694,14398,0.00,2.72,0.00,0.000,4,0.000,0.087,2527,788,1512
$GC,14438,1.02,310.5,516.1,10.5,696,14442,0.00,2.67,0.00,0.000,6,0.000,0.067,2527,2200,1511
$GC,14759,1.02,310.5,490.2,7.0,712,14763,0.00,2.80,0.00,0.000,4,0.000,0.096,2527,3617,1511
$GC,14791,1.02,310.5,487.6,8.4,713,14797,0.00,2.72,0.00,0.000,6,0.000,0.078,2527,2203,1512
$GC,15107,1.02,310.5,465.3,7.7,729,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2204,1511
$GC,15416,1.02,310.5,434.8,10.1,744,15420,0.00,2.75,0.00,0.000,4,0.000,0.087,2527,782,1511
$GC,15449,1.02,310.5,431.5,9.3,745,15455,0.00,2.67,0.00,0.000,6,0.000,0.065,2527,2204,1509
$GC,15765,1.02,310.5,404.1,6.5,761,15769,0.00,2.75,0.00,0.000,4,0.000,0.083,2528,781,1510
$GC,15831,1.11,388.4,400.8,3.9,764,15908,0.00,2.67,67.00,1.000,6,0.000,0.064,2527,2203,1196
$GC,16218,1.16,388.4,378.8,6.9,783,16219,0.12,0.00,0.00,0.000,6,0.060,0.000,2559,2203,1196
$GC,16527,1.10,388.4,348.9,10.5,798,16531,0.00,2.75,0.00,0.000,4,0.000,0.079,2560,776,1196
$GC,16560,1.06,388.4,345.3,10.8,799,16566,0.15,2.65,0.00,0.000,6,0.089,0.059,2531,2201,1196
$GC,16875,1.06,388.4,318.9,7.9,815,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2201,1196
$GC,17185,1.10,388.4,292.8,8.9,830,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2201,1198
$GC,17494,1.15,388.4,261.7,10.0,845,17499,0.00,2.72,0.00,0.000,4,0.000,0.074,2530,775,1198
$GC,17561,1.20,388.4,255.3,9.5,848,17566,0.15,2.65,0.00,0.000,6,0.048,0.056,2572,2209,1199
$GC,17883,1.13,388.4,221.6,9.7,864,17885,0.12,0.00,0.00,0.000,6,0.089,0.000,2547,2210,1199
$GC,18191,1.13,388.4,195.3,8.6,879,18196,0.00,2.72,0.00,0.000,4,0.000,0.074,2547,779,1200
$GC,18219,1.13,388.4,192.8,9.3,880,18223,0.00,2.62,0.00,0.000,6,0.000,0.054,2547,2203,1200
$GC,18535,1.13,388.4,160.2,11.9,895,18539,0.00,2.70,0.00,0.000,4,0.000,0.079,2547,3622,1200
$GC,18562,1.13,388.4,156.7,12.8,896,18566,0.00,2.70,0.00,0.000,6,0.000,0.067,2547,2192,1201
$GC,18878,1.09,388.4,118.9,11.4,911,18882,0.00,2.67,0.00,0.000,4,0.000,0.073,2547,773,1201
$GC,18950,1.09,388.4,110.8,10.1,914,18955,0.00,2.62,0.00,0.000,6,0.000,0.053,2547,2204,1202
$GC,19267,1.09,388.4,80.3,9.4,929,19269,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2204,1203
$GC,19575,1.09,388.4,51.9,9.0,944,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2204,1203
$GC,19885,1.09,388.4,24.0,8.9,959,19886,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2204,1204
$STATE,20109,end climb,SURFACE_DEPTH_REACHED
$STATE,20109,begin surface coast
$FINISH,0.7,1.027087
$STATE,20131,end surface coast,CONTROL_FINISHED_OK
$STATE,20131,begin surface
$SM_CCo,20152,83.40,0.621,0,0,508,557.32
$SM_GC,1.43,0.00,0.00,83.40,0.000,0.000,0.621,72,2306,508,-10.24,0.17,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1857
$TCM_TEMP,17.50
$XPDR_PINGS,44
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,675.1,46.6
$24V_AH,23.5,15.778
$10V_AH,10.1,8.032
$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,25.975,161.100,479.650,83.400,0.000,33.257,37.721,171.862,17.500,0.000,0.000,37.544,1749.785,15526.569,775.203,2023.048,552.923,33.351,1783.050,0.000,1956.073,0.000,47.095
$DEVICE_MAMPS,167.973,95.875,1181.947,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.832,660.712,570.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50692,971
$CAP_FILE_SIZE,143340,0
$CFSIZE,260165632,253345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,230608,223857,6124.672,-806.782,36,2.7,56,-8.7