version: 66.03
glider: 16
mission: 9
dive: 80
start: 6 24 108 10 46 7
data:
$ID,16
$MISSION,9
$DIVE,80
$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,-2094480.8
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,103256,6126.701,-827.579,41,1.6,41,-8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.7
$GPS2,104515,6126.597,-827.472,14,1.8,14,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_3
$TGT_LATLONG,6130.000,-828.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,-0.054
$KALMAN_X,-135530.4,667.0,-19586.3,-17763.1,19825.5
$KALMAN_Y,-49780.0,-1030.3,-5853.3,128818.3,11407.8
$MHEAD_RNG_PITCHd_Wd,4.7,6320,-13.5,-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,-0.96,-104.9,0.0,0.0,0,146,0.00,0.00,-120.50,0.000,2,0.000,0.000,72,2311,3020
$GC,150,-1.01,-146.6,4.0,-3.3,6,175,11.27,2.67,-8.25,0.000,4,0.170,0.076,2073,880,3379
$GC,378,-0.87,-146.6,36.2,-11.7,16,383,0.17,2.62,0.00,0.000,6,0.100,0.056,2107,2298,3379
$GC,700,-0.78,-146.6,69.8,-10.1,32,702,0.12,0.00,0.00,0.000,6,0.103,0.000,2130,2298,3379
$GC,1009,-0.78,-146.6,98.6,-9.6,47,1013,0.00,2.65,0.00,0.000,4,0.000,0.064,2130,880,3380
$GC,1058,-0.82,-146.6,103.5,-9.4,49,1063,0.00,2.62,0.00,0.000,6,0.000,0.055,2130,2300,3380
$GC,1374,-0.82,-146.6,134.3,-10.0,64,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2300,3380
$GC,1683,-0.82,-146.6,166.3,-10.5,79,1687,0.00,2.65,0.00,0.000,4,0.000,0.065,2130,878,3380
$GC,1760,-0.82,-146.6,174.3,-9.7,82,1766,0.00,2.62,0.00,0.000,6,0.000,0.056,2130,2301,3380
$GC,2076,-0.82,-146.6,204.5,-9.9,98,2081,0.00,2.67,0.00,0.000,4,0.000,0.066,2130,871,3380
$GC,2127,-0.86,-146.6,209.6,-10.2,100,2131,0.00,2.65,0.00,0.000,6,0.000,0.056,2130,2304,3379
$GC,2442,-0.86,-146.6,242.1,-10.3,115,2446,0.00,2.67,0.00,0.000,4,0.000,0.067,2130,879,3380
$GC,2498,-0.90,-146.6,247.7,-9.8,117,2504,0.12,2.62,0.00,0.000,6,0.047,0.057,2090,2298,3380
$GC,2814,-0.78,-146.6,286.8,-12.2,133,2815,0.20,0.00,0.00,0.000,6,0.089,0.000,2130,2299,3380
$GC,3123,-0.78,-146.6,316.9,-9.4,148,3127,0.00,2.65,0.00,0.000,4,0.000,0.067,2130,880,3380
$GC,3212,-0.78,-146.6,325.5,-9.0,152,3217,0.00,2.62,0.00,0.000,6,0.000,0.057,2130,2301,3380
$GC,3533,-0.78,-146.6,354.3,-8.7,168,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2301,3380
$GC,3842,-0.78,-146.6,381.2,-8.3,183,3847,0.00,2.67,0.00,0.000,4,0.000,0.068,2130,874,3381
$GC,3949,-0.78,-146.6,390.2,-8.1,188,3954,0.00,2.65,0.00,0.000,6,0.000,0.057,2131,2308,3380
$GC,4275,-0.78,-146.6,413.3,-6.1,204,4280,0.00,2.67,0.00,0.000,4,0.000,0.068,2130,880,3379
$GC,4337,-0.78,-146.6,417.2,-6.4,207,4342,0.00,2.62,0.00,0.000,6,0.000,0.057,2130,2302,3379
$GC,4663,-0.78,-146.6,442.0,-8.5,223,4668,0.00,2.65,0.00,0.000,4,0.000,0.068,2130,880,3379
$GC,4720,-0.83,-146.6,448.3,-11.0,225,4726,0.00,2.62,0.00,0.000,6,0.000,0.058,2130,2305,3379
$GC,5036,-0.83,-146.6,478.0,-8.7,241,5040,0.00,2.67,0.00,0.000,4,0.000,0.067,2130,875,3379
$GC,5108,-0.88,-146.6,483.8,-7.6,244,5112,0.00,2.62,0.00,0.000,6,0.000,0.056,2130,2300,3379
$GC,5424,-0.88,-146.6,507.3,-7.6,259,5428,0.00,2.67,0.00,0.000,4,0.000,0.068,2130,873,3379
$GC,5464,-0.94,-146.6,510.2,-7.7,261,5469,0.17,2.65,0.00,0.000,6,0.042,0.056,2078,2307,3379
$GC,5791,-0.80,-146.6,544.2,-11.7,277,5796,0.20,2.67,0.00,0.000,4,0.093,0.067,2122,880,3379
$GC,5886,-0.80,-146.6,553.7,-9.0,281,5890,0.00,2.62,0.00,0.000,6,0.000,0.057,2122,2303,3379
$GC,6202,-0.80,-146.6,580.6,-8.6,296,6206,0.00,2.65,0.00,0.000,4,0.000,0.067,2122,880,3379
$GC,6303,-0.85,-146.6,591.4,-12.2,300,6309,0.00,2.62,0.00,0.000,6,0.000,0.058,2122,2305,3379
$GC,6619,-0.85,-146.6,635.4,-11.7,316,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2305,3378
$GC,6929,-1.47,-146.6,655.0,6.1,331,6934,0.60,2.70,0.00,0.000,4,0.037,0.082,1969,3715,3378
$GC,6963,-1.26,-146.6,652.2,8.8,332,6970,0.28,2.60,0.00,0.000,6,0.088,0.054,2024,2288,3378
$GC,7279,-0.99,-146.6,667.9,-4.6,348,7284,0.25,2.62,0.00,0.000,4,0.108,0.071,2077,885,3377
$GC,7416,-0.91,-146.6,688.4,-16.3,354,7421,0.12,2.62,0.00,0.000,6,0.107,0.062,2100,2300,3378
$GC,7737,-0.85,-146.6,707.9,-7.8,370,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2299,3377
$GC,8047,-0.81,-146.6,738.1,-8.1,385,8052,0.12,2.67,0.00,0.000,4,0.114,0.076,2122,892,3376
$GC,8132,-0.86,-146.6,746.1,-10.5,389,8136,0.00,2.65,0.00,0.000,6,0.000,0.068,2122,2299,3376
$GC,8458,-0.86,-146.6,777.7,-9.4,405,8463,0.00,2.70,0.00,0.000,4,0.000,0.077,2122,884,3374
$GC,8498,-0.92,-146.6,781.3,-9.2,407,8504,0.12,2.67,0.00,0.000,6,0.055,0.070,2088,2304,3374
$GC,8825,-0.80,-146.6,817.9,-10.6,423,8827,0.17,0.00,0.00,0.000,6,0.098,0.000,2121,2304,3373
$STATE,9049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9049,begin apogee
$GC,9057,-0.31,0.0,827.4,5.8,434,9193,0.55,0.00,133.38,1.218,6,0.107,0.000,2230,2197,2782
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9194,begin climb
$GC,9197,1.01,146.6,831.2,0.0,441,9335,1.45,0.00,133.48,1.196,6,0.103,0.000,2516,2197,2183
$GC,9642,0.92,146.6,807.2,10.2,463,9647,0.00,2.80,0.00,0.000,4,0.000,0.092,2516,3612,2182
$GC,9782,1.04,259.6,805.9,1.7,469,9895,0.00,2.67,102.28,1.188,6,0.000,0.068,2516,2198,1721
$GC,10204,1.11,270.5,779.1,5.6,490,10226,0.12,2.83,11.00,1.041,4,0.061,0.090,2549,3610,1678
$GC,10260,1.11,270.5,774.3,9.7,492,10264,0.00,2.67,0.00,0.000,6,0.000,0.067,2549,2203,1678
$GC,10575,1.11,270.5,744.6,10.5,507,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2203,1677
$GC,10884,1.11,270.5,710.5,7.2,522,10889,0.00,2.75,0.00,0.000,4,0.000,0.086,2549,787,1676
$GC,10951,1.11,270.5,705.5,11.5,525,10956,0.00,2.67,0.00,0.000,6,0.000,0.064,2549,2204,1675
$GC,11273,1.11,270.5,685.1,6.8,541,11277,0.00,2.72,0.00,0.000,4,0.000,0.077,2549,787,1674
$GC,11530,1.11,270.5,658.9,11.0,552,11536,0.00,2.65,0.00,0.000,6,0.000,0.062,2549,2201,1673
$GC,11846,1.11,270.5,626.1,8.5,568,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2205,1672
$GC,12155,1.11,270.5,600.6,6.9,583,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2205,1672
$GC,12464,1.11,270.5,575.7,7.3,598,12468,0.00,2.70,0.00,0.000,4,0.000,0.082,2549,3622,1672
$GC,12548,1.11,270.5,568.7,9.1,602,12553,0.00,2.65,0.00,0.000,6,0.000,0.061,2549,2195,1673
$GC,12875,1.11,270.5,546.5,6.3,618,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2194,1673
$GC,13184,1.11,270.5,516.0,8.1,633,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2194,1674
$GC,13494,1.11,270.5,480.0,9.6,648,13498,0.00,2.67,0.00,0.000,4,0.000,0.071,2549,775,1674
$GC,13571,1.11,270.5,474.1,7.5,651,13577,0.00,2.62,0.00,0.000,6,0.000,0.054,2549,2202,1674
$GC,13887,1.11,270.5,452.4,7.6,667,13891,0.00,2.70,0.00,0.000,4,0.000,0.082,2549,3616,1676
$GC,13954,1.06,270.5,446.1,9.1,670,13959,0.00,2.65,0.00,0.000,6,0.000,0.062,2549,2196,1676
$GC,14275,1.06,270.5,414.8,10.1,686,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2195,1676
$GC,14584,1.06,270.5,380.9,11.9,701,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2195,1677
$GC,14893,1.06,270.5,341.9,11.9,716,14898,0.00,2.65,0.00,0.000,4,0.000,0.071,2549,775,1678
$GC,14944,1.06,270.5,336.4,10.1,718,14948,0.00,2.62,0.00,0.000,6,0.000,0.054,2549,2204,1678
$GC,15259,1.06,270.5,306.7,8.7,733,15264,0.00,2.70,0.00,0.000,4,0.000,0.081,2549,3620,1678
$GC,15309,1.06,270.5,302.1,8.9,735,15314,0.00,2.65,0.00,0.000,6,0.000,0.062,2549,2199,1679
$GC,15625,1.06,270.5,275.3,8.5,750,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2199,1679
$GC,15934,1.06,270.5,245.5,10.5,765,15939,0.00,2.70,0.00,0.000,4,0.000,0.081,2549,3616,1679
$GC,16002,1.02,270.5,237.8,12.6,768,16007,0.15,2.62,0.00,0.000,6,0.090,0.061,2520,2200,1679
$GC,16323,1.07,270.5,207.2,9.7,784,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2200,1680
$GC,16632,1.13,270.5,177.1,9.3,799,16634,0.12,0.00,0.00,0.000,6,0.048,0.000,2558,2200,1680
$GC,16943,1.07,270.5,141.2,11.7,814,16948,0.12,2.72,0.00,0.000,4,0.092,0.079,2534,3619,1681
$GC,16999,1.07,270.5,134.4,10.2,816,17005,0.00,2.62,0.00,0.000,6,0.000,0.060,2533,2197,1681
$GC,17315,1.07,270.5,101.2,10.5,832,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2198,1681
$GC,17624,1.07,270.5,68.4,10.5,847,17628,0.00,2.72,0.00,0.000,4,0.000,0.079,2533,3620,1682
$GC,17663,1.07,270.5,64.3,10.9,849,17668,0.00,2.62,0.00,0.000,6,0.000,0.060,2533,2198,1682
$GC,17991,1.07,270.5,35.8,8.2,865,17992,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2198,1682
$GC,18302,1.12,270.5,10.5,8.1,880,18306,0.00,2.72,0.00,0.000,4,0.000,0.079,2534,3625,1682
$GC,18335,1.16,270.5,7.4,9.3,881,18341,0.00,2.62,0.00,0.000,6,0.000,0.060,2534,2199,1682
$STATE,18402,end climb,SURFACE_DEPTH_REACHED
$STATE,18402,begin surface coast
$FINISH,0.7,1.026781
$STATE,18422,end surface coast,CONTROL_FINISHED_OK
$STATE,18422,begin surface
$SM_CCo,18444,137.05,0.611,0,0,508,557.32
$SM_GC,1.41,0.00,0.00,137.05,0.000,0.000,0.611,71,2304,508,-10.25,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1830
$TCM_TEMP,17.80
$XPDR_PINGS,41
$ALTIM_TOP_PING,18.9,17.9
$ALTIM_BOTTOM_PING,750.5,86.7
$24V_AH,23.5,16.311
$10V_AH,10.1,8.307
$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,27.075,160.275,380.125,137.050,0.000,55.011,96.934,322.664,17.000,0.000,0.000,14.801,1640.867,14148.425,711.360,2032.284,783.427,33.344,1725.756,0.000,1982.140,0.000,46.204
$DEVICE_MAMPS,170.274,92.040,1217.996,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.210,602.857,508.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44254,886
$CAP_FILE_SIZE,142385,0
$CFSIZE,260165632,253149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240608,155708,6128.301,-829.954,40,1.2,40,-8.9