version: 66.04
glider: 16
mission: 13
dive: 64
start: 6 15 109 14 38 45
data:
$ID,16
$MISSION,13
$DIVE,64
$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,270
$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,-2108751.2
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,143324,6157.979,-958.473,24,1.9,41,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-65.9
$GPS2,143825,6158.015,-958.499,12,1.9,17,-9.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6158.015,-1021.477
$TGT_RADIUS,1852.000
$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,279.9,20000,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-61.08,0.000,2,0.000,0.000,72,2601,3373
$GC,81,-1.03,-146.6,5.4,-9.3,3,103,11.82,2.55,-0.73,0.000,4,0.180,0.051,2132,1192,3419
$GC,199,-1.03,-146.6,29.3,-11.4,8,203,0.00,2.50,0.00,0.000,6,0.000,0.037,2132,2605,3419
$GC,519,-1.03,-146.6,65.0,-9.8,24,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3419
$GC,830,-1.03,-146.6,89.3,-7.6,39,834,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3867,3419
$GC,897,-1.03,-146.6,94.0,-6.3,42,901,0.00,2.20,0.00,0.000,6,0.000,0.028,2133,2578,3419
$GC,1218,-1.03,-146.6,114.9,-6.9,58,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,1529,-1.03,-146.6,138.3,-8.1,73,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,1836,-1.03,-146.6,164.6,-8.7,88,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,2146,-1.03,-146.6,189.6,-7.2,103,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,2455,-1.03,-146.6,209.8,-6.4,118,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,2764,-1.03,-146.6,232.2,-7.7,133,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,3073,-1.03,-146.6,256.3,-8.0,148,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,3383,-1.03,-146.6,282.7,-8.5,163,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,3692,-1.03,-146.6,310.2,-9.1,178,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,4001,-1.03,-146.6,336.3,-8.5,193,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2576,3419
$GC,4310,-1.03,-146.6,363.1,-8.9,208,4315,0.00,2.42,0.00,0.000,4,0.000,0.042,2132,1204,3419
$GC,4344,-1.08,-146.6,366.2,-9.0,209,4350,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2602,3419
$GC,4659,-1.08,-146.6,393.0,-8.0,225,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,4969,-1.08,-146.6,416.9,-7.8,240,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3419
$GC,5278,-1.08,-146.6,440.7,-7.6,255,5282,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1201,3418
$GC,5322,-1.14,-146.6,444.1,-7.5,257,5326,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2608,3418
$GC,5643,-1.14,-146.6,469.0,-8.2,273,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2609,3418
$GC,5952,-1.14,-146.6,496.3,-9.2,288,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2608,3418
$GC,6261,-1.14,-146.6,524.4,-8.8,303,6266,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1204,3419
$GC,6317,-1.20,-146.6,529.4,-8.8,305,6322,0.17,2.45,0.00,0.000,6,0.043,0.038,2082,2605,3418
$GC,6633,-1.07,-146.6,565.1,-11.5,320,6635,0.22,0.00,0.00,0.000,6,0.096,0.000,2126,2605,3418
$GC,6942,-1.07,-146.6,588.1,-5.8,335,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2605,3418
$GC,7251,-1.07,-146.6,611.3,-9.3,350,7255,0.00,2.47,0.00,0.000,4,0.000,0.042,2126,1202,3418
$GC,7296,-1.13,-146.6,616.1,-11.1,352,7300,0.00,2.47,0.00,0.000,6,0.000,0.040,2126,2608,3418
$GC,7623,-1.13,-146.6,647.8,-6.9,368,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2608,3418
$GC,7933,-1.13,-146.6,667.7,-7.4,383,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3418
$GC,8241,-1.13,-146.6,696.6,-9.9,398,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3418
$GC,8551,-1.13,-146.6,729.3,-9.8,413,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3417
$GC,8860,-1.13,-146.6,751.6,-4.4,428,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3417
$GC,9170,-1.17,-146.6,760.7,-6.5,443,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2608,3417
$GC,9479,-1.17,-146.6,787.5,-8.5,458,9483,0.00,2.53,0.00,0.000,4,0.000,0.050,2126,1205,3417
$GC,9573,-1.27,-146.6,795.3,-7.9,462,9579,0.20,2.50,0.00,0.000,6,0.048,0.046,2073,2599,3417
$GC,9889,-1.18,-146.6,827.5,-10.7,477,9891,0.15,0.00,0.00,0.000,6,0.104,0.000,2101,2599,3416
$STATE,10093,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10093,begin apogee
$GC,10100,-0.31,0.0,847.6,10.7,487,10236,0.95,0.00,130.95,1.120,6,0.110,0.000,2290,2308,2817
$STATE,10236,end apogee,CONTROL_FINISHED_OK
$STATE,10236,begin climb
$GC,10239,1.03,146.6,852.2,0.0,494,10385,1.38,2.75,132.55,1.108,4,0.074,0.075,2581,3706,2218
$GC,10517,0.85,146.6,837.6,14.2,506,10523,0.17,2.50,0.00,0.000,6,0.107,0.038,2549,2307,2213
$GC,10833,0.87,250.1,811.0,4.0,522,10937,0.00,2.72,94.25,1.081,4,0.000,0.060,2549,894,1795
$GC,10989,0.93,300.0,802.2,5.8,529,11041,0.00,2.53,46.55,1.058,6,0.000,0.041,2549,2308,1594
$GC,11355,1.00,300.0,758.3,16.0,546,11360,0.15,2.62,0.00,0.000,4,0.055,0.057,2589,891,1584
$GC,11399,1.00,300.0,748.7,20.3,548,11404,0.00,2.55,0.00,0.000,6,0.000,0.043,2589,2304,1582
$GC,11721,1.00,300.0,703.8,9.4,564,11725,0.00,2.67,0.00,0.000,4,0.000,0.071,2589,3709,1581
$GC,11805,0.95,300.0,696.7,8.5,568,11810,0.00,2.53,0.00,0.000,6,0.000,0.037,2589,2295,1581
$GC,12132,0.95,300.0,673.4,9.5,584,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2295,1579
$GC,12442,0.95,300.0,632.3,14.0,599,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2295,1578
$GC,12751,0.95,300.0,595.2,11.5,614,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2295,1578
$GC,13060,0.95,300.0,558.4,12.3,629,13064,0.00,2.62,0.00,0.000,4,0.000,0.062,2589,3704,1578
$GC,13109,0.95,300.0,551.7,13.1,631,13114,0.00,2.45,0.00,0.000,6,0.000,0.032,2589,2295,1578
$GC,13431,0.95,300.0,513.1,11.8,647,13435,0.00,2.53,0.00,0.000,4,0.000,0.052,2588,897,1578
$GC,13475,0.95,300.0,507.8,11.2,649,13479,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2305,1578
$GC,13796,0.95,300.0,475.0,9.4,665,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1577
$GC,14105,0.95,300.0,445.6,9.6,680,14109,0.00,2.55,0.00,0.000,4,0.000,0.048,2589,891,1578
$GC,14144,0.95,300.0,441.7,9.8,682,14148,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2305,1576
$GC,14470,0.95,300.0,411.3,9.7,698,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1578
$GC,14779,0.95,300.0,379.4,10.8,713,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1578
$GC,15089,0.95,300.0,342.9,12.1,728,15093,0.00,2.55,0.00,0.000,4,0.000,0.047,2589,888,1578
$GC,15144,0.95,300.0,335.8,12.3,730,15150,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2305,1578
$GC,15460,0.95,300.0,297.0,11.9,746,15461,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1578
$GC,15769,0.95,300.0,264.7,9.4,761,15773,0.00,2.53,0.00,0.000,4,0.000,0.046,2589,891,1579
$GC,15820,0.95,300.0,259.8,9.3,763,15825,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2308,1578
$GC,16141,0.95,300.0,229.8,9.8,779,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1579
$GC,16451,0.95,300.0,198.4,10.5,794,16452,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1579
$GC,16760,0.95,300.0,164.9,11.7,809,16764,0.00,2.55,0.00,0.000,4,0.000,0.046,2589,888,1579
$GC,16804,0.95,300.0,159.3,11.8,811,16808,0.00,2.45,0.00,0.000,6,0.000,0.035,2589,2299,1580
$GC,17131,0.95,300.0,120.4,11.7,827,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2300,1580
$GC,17441,0.95,300.0,84.7,11.6,842,17445,0.00,2.53,0.00,0.000,4,0.000,0.047,2589,888,1580
$GC,17491,0.95,300.0,78.5,11.6,844,17496,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2305,1580
$GC,17809,0.95,300.0,44.1,10.1,859,17810,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1580
$GC,18117,0.95,300.0,16.6,8.2,874,18121,0.00,2.53,0.00,0.000,4,0.000,0.045,2589,895,1580
$GC,18162,1.05,306.2,13.2,7.3,876,18171,0.00,2.45,4.75,0.423,6,0.000,0.035,2588,2299,1568
$STATE,18280,end climb,SURFACE_DEPTH_REACHED
$STATE,18280,begin surface coast
$FINISH,1.2,1.026534
$STATE,18301,end surface coast,CONTROL_FINISHED_OK
$STATE,18301,begin surface
$SM_CCo,18384,0.00,0.000,0,0,1564,307.61
$SM_GC,1.52,11.88,0.00,0.00,0.082,0.000,0.000,74,2609,1564,-10.46,0.25,307.61
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1707
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.9,78.3
$24V_AH,23.5,15.108
$10V_AH,10.1,6.609
$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,27.100,96.325,409.050,0.000,0.000,18.114,32.020,131.274,6.750,0.000,0.000,17.320,1562.889,14407.642,481.526,1796.319,437.670,0.000,1375.955,0.000,1749.730,0.000,46.417,0.000
$DEVICE_MAMPS,180.245,75.166,1119.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.048,600.949,508.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44335,883
$CAP_FILE_SIZE,118719,0
$CFSIZE,260165632,254918656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150609,194625,6159.250,-1009.474,40,2.0,40,-10.0