version: 66.04
glider: 16
mission: 13
dive: 65
start: 6 15 109 19 52 4
data:
$ID,16
$MISSION,13
$DIVE,65
$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,-2108766.5
$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,27
$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
$GPS1,194625,6159.250,-1009.474,40,2.0,40,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.7
$GPS2,195144,6159.223,-1009.536,14,1.2,14,-10.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6159.223,-1032.529
$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,280.0,20000,-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,12,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,-60.92,0.000,2,0.000,0.000,74,2609,3328
$GC,81,-1.03,-146.6,5.2,-8.4,3,103,11.88,2.55,-1.45,0.000,4,0.183,0.051,2129,1197,3417
$GC,182,-1.03,-146.6,27.4,-9.8,7,186,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2595,3418
$GC,498,-1.03,-146.6,55.3,-8.1,22,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,807,-1.03,-146.6,77.7,-7.7,37,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3418
$GC,1116,-1.03,-146.6,105.8,-9.9,52,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,1425,-1.03,-146.6,139.3,-11.3,67,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,1735,-1.03,-146.6,175.8,-12.0,82,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,2044,-1.03,-146.6,211.6,-11.2,97,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,2353,-1.03,-146.6,245.2,-10.4,112,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,2663,-1.03,-146.6,276.8,-10.3,127,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,2972,-1.03,-146.6,307.4,-9.7,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2595,3419
$GC,3281,-1.03,-146.6,337.2,-9.9,157,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2595,3419
$GC,3590,-1.03,-146.6,368.6,-10.3,172,3594,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1183,3419
$GC,3634,-1.08,-146.6,373.2,-10.0,174,3639,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2603,3419
$GC,3955,-1.08,-146.6,405.2,-9.8,190,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,4265,-1.08,-146.6,435.3,-9.8,205,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2603,3419
$GC,4574,-1.08,-146.6,462.8,-8.5,220,4578,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1191,3419
$GC,4624,-1.13,-146.6,466.9,-7.9,222,4628,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,4946,-1.13,-146.6,488.1,-5.6,238,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,5255,-1.13,-146.6,503.1,-4.4,253,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5564,-1.13,-146.6,517.1,-4.7,268,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5873,-1.13,-146.6,538.2,-8.7,283,5877,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1185,3418
$GC,5937,-1.18,-146.6,544.5,-10.4,286,5942,0.12,2.50,0.00,0.000,6,0.049,0.039,2092,2608,3418
$GC,6265,-1.09,-146.6,586.4,-12.8,302,6267,0.15,0.00,0.00,0.000,6,0.099,0.000,2120,2608,3418
$GC,6572,-1.09,-146.6,619.7,-10.7,317,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2608,3418
$GC,6881,-1.09,-146.6,646.1,-8.4,332,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2609,3418
$GC,7191,-1.09,-146.6,665.5,-4.5,347,7196,0.00,2.50,0.00,0.000,4,0.000,0.042,2120,1191,3418
$GC,7242,-1.09,-146.6,667.4,-3.9,349,7246,0.00,2.47,0.00,0.000,6,0.000,0.039,2120,2600,3418
$GC,7560,-1.09,-146.6,675.2,-2.4,364,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3417
$GC,7867,-1.09,-146.6,680.5,1.0,379,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3417
$GC,8176,-1.09,-146.6,708.4,-18.8,394,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3417
$GC,8485,-1.09,-146.6,762.9,-11.1,409,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3417
$GC,8795,-1.09,-146.6,772.4,-1.0,424,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3416
$GC,9104,-1.09,-146.6,795.3,-16.2,439,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3417
$GC,9413,-1.09,-146.6,829.7,-6.6,454,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3416
$GC,9723,-1.09,-146.6,842.4,-6.5,469,9727,0.00,2.55,0.00,0.000,4,0.000,0.051,2120,1187,3415
$STATE,9815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9815,begin apogee
$GC,9824,-0.31,0.0,848.3,8.9,473,9958,0.82,0.00,130.85,1.118,6,0.121,0.000,2284,2298,2817
$STATE,9959,end apogee,CONTROL_FINISHED_OK
$STATE,9959,begin climb
$GC,9962,1.03,146.6,855.0,0.0,480,10103,1.40,0.00,133.30,1.104,6,0.076,0.000,2579,2299,2219
$GC,10415,0.90,146.6,833.7,9.1,502,10420,0.12,2.58,0.00,0.000,4,0.102,0.058,2556,898,2211
$GC,10501,0.79,146.6,826.5,7.7,506,10506,0.12,2.53,0.00,0.000,6,0.107,0.044,2534,2305,2209
$GC,10827,0.74,146.6,789.6,10.7,522,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2306,2209
$GC,11137,0.97,357.1,778.6,0.3,537,11339,0.17,2.78,190.90,1.080,4,0.052,0.074,2583,3702,1359
$GC,11436,1.00,385.9,764.5,6.5,551,11467,0.00,2.50,26.27,1.017,6,0.000,0.037,2583,2303,1243
$GC,11786,1.05,385.9,738.1,10.3,568,11790,0.00,2.60,0.00,0.000,4,0.000,0.058,2583,895,1234
$GC,11870,1.12,385.9,727.5,12.8,572,11875,0.00,2.53,0.00,0.000,6,0.000,0.041,2583,2303,1232
$GC,12197,1.17,385.9,686.7,13.1,588,12199,0.15,0.00,0.00,0.000,6,0.053,0.000,2625,2302,1231
$GC,12507,1.13,385.9,636.9,15.2,603,12511,0.00,2.58,0.00,0.000,4,0.000,0.051,2625,889,1230
$GC,12578,1.13,385.9,626.3,14.0,606,12583,0.00,2.50,0.00,0.000,6,0.000,0.037,2625,2304,1230
$GC,12895,1.08,385.9,589.2,10.7,621,12900,0.15,2.55,0.00,0.000,4,0.094,0.049,2595,893,1229
$GC,12940,1.14,385.9,584.9,8.2,623,12944,0.00,2.47,0.00,0.000,6,0.000,0.036,2595,2302,1230
$GC,13267,1.14,385.9,555.8,9.4,639,13271,0.00,2.55,0.00,0.000,4,0.000,0.049,2596,893,1229
$GC,13311,1.20,385.9,551.4,10.3,641,13316,0.12,2.47,0.00,0.000,6,0.049,0.035,2634,2302,1229
$GC,13632,1.14,385.9,507.9,14.1,657,13637,0.12,2.55,0.00,0.000,4,0.097,0.048,2610,891,1229
$GC,13676,1.14,385.9,501.8,13.0,659,13680,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2301,1229
$GC,13997,1.14,385.9,461.2,12.3,675,14001,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,891,1229
$GC,14046,1.14,385.9,455.2,11.5,677,14051,0.00,2.47,0.00,0.000,6,0.000,0.036,2610,2304,1229
$GC,14368,1.14,385.9,421.0,10.5,693,14369,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2304,1229
$GC,14677,1.14,385.9,388.5,10.9,708,14681,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,892,1229
$GC,14777,1.14,385.9,377.0,12.0,712,14783,0.00,2.47,0.00,0.000,6,0.000,0.036,2609,2304,1229
$GC,15093,1.14,385.9,339.4,11.7,728,15096,0.00,2.55,0.00,0.000,4,0.000,0.047,2610,884,1229
$GC,15131,1.14,385.9,334.5,12.6,729,15137,0.00,2.50,0.00,0.000,6,0.000,0.036,2610,2310,1229
$GC,15447,1.14,385.9,293.1,13.6,745,15451,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,892,1229
$GC,15508,1.14,385.9,284.4,14.8,747,15514,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2308,1229
$GC,15824,1.14,385.9,243.9,12.5,763,15828,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,891,1229
$GC,15879,1.14,385.9,237.1,11.9,765,15885,0.00,2.47,0.00,0.000,6,0.000,0.036,2610,2306,1229
$GC,16195,1.14,385.9,202.5,10.1,781,16199,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,890,1229
$GC,16256,1.14,385.9,195.1,12.1,784,16260,0.00,2.45,0.00,0.000,6,0.000,0.036,2610,2301,1229
$GC,16589,1.14,385.9,158.8,10.6,800,16593,0.00,2.55,0.00,0.000,4,0.000,0.048,2610,883,1230
$GC,16651,1.14,385.9,152.3,10.1,803,16655,0.00,2.47,0.00,0.000,6,0.000,0.036,2610,2302,1229
$GC,16983,1.14,385.9,115.8,11.5,819,16988,0.00,2.55,0.00,0.000,4,0.000,0.048,2611,883,1230
$GC,17039,1.14,385.9,109.0,12.3,821,17045,0.00,2.47,0.00,0.000,6,0.000,0.036,2610,2301,1230
$GC,17355,1.14,385.9,72.7,11.5,837,17359,0.00,2.53,0.00,0.000,4,0.000,0.048,2610,892,1230
$GC,17411,1.19,385.9,66.0,12.8,839,17418,0.00,2.47,0.00,0.000,6,0.000,0.036,2610,2309,1229
$GC,17727,1.19,385.9,29.4,11.8,855,17731,0.00,2.55,0.00,0.000,4,0.000,0.047,2610,890,1230
$GC,17805,1.23,385.9,19.7,12.0,858,17812,0.00,2.47,0.00,0.000,6,0.000,0.035,2610,2306,1230
$STATE,17953,end climb,SURFACE_DEPTH_REACHED
$STATE,17953,begin surface coast
$FINISH,0.7,1.026669
$STATE,17977,end surface coast,CONTROL_FINISHED_OK
$STATE,17977,begin surface
$SM_CCo,18060,0.00,0.000,0,0,1228,389.54
$SM_GC,1.52,11.90,0.00,0.00,0.079,0.000,0.000,71,2606,1228,-10.46,0.17,389.54
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1706
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.9,56.3
$24V_AH,23.5,15.269
$10V_AH,10.1,6.687
$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,27.250,115.875,481.325,0.000,0.000,28.062,29.395,144.084,7.000,0.000,0.000,14.583,1549.783,13976.105,566.311,1824.755,463.001,0.000,1487.022,0.000,1779.068,0.000,47.966,0.000
$DEVICE_MAMPS,182.546,73.632,1118.286,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.436,591.153,484.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44342,867
$CAP_FILE_SIZE,122629,0
$CFSIZE,260165632,254853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160609,005407,6201.203,-1020.346,27,1.8,27,-10.1