version: 66.04
glider: 16
mission: 13
dive: 67
start: 6 16 109 6 9 27
data:
$ID,16
$MISSION,13
$DIVE,67
$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,-2108795.2
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,060337,6202.699,-1030.402,27,1.3,27,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.8
$GPS2,060907,6202.666,-1030.507,11,1.4,11,-10.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6202.666,-1053.543
$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,280.2,20000,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-81.10,0.000,2,0.000,0.000,74,2609,3216
$GC,101,-1.03,-146.6,4.6,-5.1,4,124,12.10,2.50,-3.53,0.000,4,0.191,0.052,2131,1195,3415
$GC,215,-1.03,-146.6,22.4,-7.5,9,220,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2593,3417
$GC,542,-1.03,-146.6,45.3,-8.3,25,547,0.00,2.38,0.00,0.000,4,0.000,0.067,2131,3867,3417
$GC,654,-1.03,-146.6,57.2,-10.4,30,658,0.00,2.20,0.00,0.000,6,0.000,0.028,2131,2573,3417
$GC,976,-1.03,-146.6,94.9,-12.2,46,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2572,3418
$GC,1285,-1.03,-146.6,118.6,-6.9,61,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,1595,-1.03,-146.6,146.8,-10.0,76,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2572,3418
$GC,1904,-1.03,-146.6,176.8,-9.4,91,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2572,3418
$GC,2213,-1.03,-146.6,207.7,-10.7,106,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,2523,-1.03,-146.6,246.1,-13.0,121,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,2831,-1.03,-146.6,288.1,-13.5,136,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,3141,-1.03,-146.6,327.7,-12.4,151,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2571,3418
$GC,3450,-1.03,-146.6,360.1,-9.4,166,3454,0.00,2.40,0.00,0.000,4,0.000,0.042,2131,1212,3418
$GC,3500,-1.08,-146.6,364.6,-8.3,168,3504,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,3815,-1.08,-146.6,389.7,-7.7,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4125,-1.08,-146.6,414.1,-8.2,198,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,4434,-1.08,-146.6,440.5,-8.5,213,4438,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1210,3417
$GC,4502,-1.14,-146.6,446.3,-8.7,216,4506,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3417
$GC,4824,-1.14,-146.6,476.1,-9.7,232,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3417
$GC,5132,-1.14,-146.6,507.6,-9.9,247,5136,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1212,3416
$GC,5171,-1.19,-146.6,511.5,-9.5,249,5177,0.15,2.45,0.00,0.000,6,0.044,0.039,2086,2600,3416
$GC,5503,-1.08,-146.6,550.9,-11.9,265,5505,0.20,0.00,0.00,0.000,6,0.097,0.000,2124,2602,3416
$GC,5807,-1.08,-146.6,578.6,-8.3,280,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2602,3416
$GC,6117,-1.08,-146.6,604.5,-7.9,295,6121,0.00,2.47,0.00,0.000,4,0.000,0.041,2124,1206,3416
$GC,6174,-1.08,-146.6,608.4,-7.0,297,6180,0.00,2.47,0.00,0.000,6,0.000,0.039,2124,2608,3416
$GC,6490,-1.08,-146.6,634.9,-9.0,313,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2608,3415
$GC,6799,-1.08,-146.6,669.4,-12.5,328,6803,0.00,2.45,0.00,0.000,4,0.000,0.042,2124,1213,3415
$GC,6871,-1.13,-146.6,678.6,-12.9,331,6876,0.00,2.45,0.00,0.000,6,0.000,0.040,2124,2600,3415
$GC,7193,-1.13,-146.6,708.8,-8.4,347,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2600,3415
$GC,7502,-1.13,-146.6,739.0,-10.8,362,7506,0.00,2.45,0.00,0.000,4,0.000,0.042,2124,1212,3415
$GC,7564,-1.18,-146.6,745.9,-11.1,365,7568,0.00,2.45,0.00,0.000,6,0.000,0.041,2124,2601,3415
$GC,7897,-1.18,-146.6,785.7,-12.0,381,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2601,3415
$GC,8205,-1.18,-146.6,816.7,-7.8,396,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2601,3415
$GC,8515,-1.18,-146.6,838.7,-7.7,411,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2602,3415
$GC,8824,-1.18,-146.6,860.0,-6.3,426,8828,0.00,2.38,0.00,0.000,4,0.000,0.080,2124,3862,3415
$GC,8875,-1.18,-146.6,863.3,-7.3,428,8879,0.00,2.15,0.00,0.000,6,0.000,0.033,2124,2613,3415
$GC,9202,-1.18,-146.6,884.4,-7.4,444,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3414
$GC,9512,-1.22,-146.6,908.4,-8.0,459,9513,0.15,0.00,0.00,0.000,6,0.048,0.000,2081,2610,3415
$GC,9821,-1.14,-146.6,940.0,-10.4,474,9826,0.15,2.55,0.00,0.000,4,0.104,0.052,2109,1199,3414
$GC,9946,-1.14,-146.6,951.6,-9.6,479,9952,0.00,2.50,0.00,0.000,6,0.000,0.048,2109,2598,3413
$STATE,10114,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10115,begin apogee
$GC,10121,-0.31,0.0,966.6,8.9,488,10258,0.90,0.00,132.90,1.187,6,0.105,0.000,2290,2294,2817
$STATE,10259,end apogee,CONTROL_FINISHED_OK
$STATE,10259,begin climb
$GC,10262,1.03,146.6,970.8,0.0,495,10404,1.40,2.62,134.57,1.177,4,0.074,0.056,2582,908,2218
$GC,10472,0.90,159.7,964.1,7.1,505,10490,0.15,2.55,12.55,1.033,6,0.101,0.044,2555,2311,2165
$GC,10801,0.88,199.4,941.3,6.1,521,10845,0.00,2.72,37.25,1.127,4,0.000,0.074,2555,3704,2003
$GC,10885,0.78,199.4,933.7,9.8,525,10890,0.12,2.50,0.00,0.000,6,0.111,0.038,2533,2313,2001
$GC,11207,0.78,199.4,907.3,8.3,541,11211,0.00,2.62,0.00,0.000,4,0.000,0.061,2533,897,1996
$GC,11250,0.78,199.4,903.6,8.2,543,11255,0.00,2.53,0.00,0.000,6,0.000,0.044,2533,2305,1995
$GC,11572,0.80,212.2,881.7,7.1,559,11593,0.00,2.78,11.90,1.012,4,0.000,0.073,2533,3707,1951
$GC,11666,0.82,229.7,875.3,6.9,563,11691,0.00,2.53,18.12,1.060,6,0.000,0.038,2533,2298,1880
$GC,12016,0.90,256.8,855.6,6.6,580,12048,0.10,2.75,26.30,1.084,4,0.061,0.071,2561,3709,1769
$GC,12093,0.85,256.8,848.7,8.5,583,12099,0.00,2.53,0.00,0.000,6,0.000,0.038,2561,2301,1769
$GC,12409,0.85,256.8,827.2,7.8,599,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2301,1765
$GC,12718,0.85,256.8,795.7,9.9,614,12722,0.00,2.65,0.00,0.000,4,0.000,0.068,2561,3711,1763
$GC,12758,0.85,256.8,791.7,10.7,616,12762,0.00,2.50,0.00,0.000,6,0.000,0.035,2561,2299,1763
$GC,13084,0.85,256.8,757.8,11.3,632,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1762
$GC,13394,0.86,265.7,730.9,7.2,647,13404,0.00,0.00,8.70,0.874,6,0.000,0.000,2561,2299,1733
$GC,13703,0.88,281.4,709.0,7.0,662,13723,0.00,0.00,16.05,0.944,6,0.000,0.000,2561,2299,1670
$GC,14032,0.93,281.4,683.6,8.6,678,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1668
$GC,14341,0.93,281.4,656.8,9.2,693,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1667
$GC,14651,0.98,281.4,628.6,8.7,708,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2299,1667
$GC,14960,1.03,281.4,603.2,8.0,723,14962,0.10,0.00,0.00,0.000,6,0.057,0.000,2588,2299,1667
$GC,15269,1.03,281.4,572.4,10.6,738,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2299,1667
$GC,15578,1.03,281.4,537.7,11.4,753,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2299,1667
$GC,15888,1.03,281.4,504.8,10.6,768,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2299,1667
$GC,16197,1.03,281.4,471.2,10.7,783,16201,0.00,2.53,0.00,0.000,4,0.000,0.051,2588,894,1667
$GC,16248,1.03,281.4,465.6,11.4,785,16253,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2305,1667
$GC,16570,1.03,281.4,432.5,9.6,801,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1668
$GC,16879,1.03,281.4,403.3,9.4,816,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2305,1667
$GC,17189,1.03,281.4,375.4,8.8,831,17192,0.00,2.53,0.00,0.000,4,0.000,0.046,2589,892,1667
$GC,17222,1.03,281.4,372.0,9.6,832,17226,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2306,1667
$GC,17537,1.03,281.4,342.9,9.0,847,17538,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2306,1667
$GC,17847,1.03,281.4,314.6,9.3,862,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2307,1667
$GC,18156,1.03,281.4,286.6,9.0,877,18160,0.00,2.53,0.00,0.000,4,0.000,0.045,2589,892,1668
$GC,18194,1.03,281.4,282.8,9.9,878,18200,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2308,1668
$GC,18510,1.03,281.4,253.6,9.4,894,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1668
$GC,18819,1.03,281.4,222.5,10.4,909,18820,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1668
$GC,19129,1.03,281.4,187.4,12.0,924,19130,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2308,1668
$GC,19438,1.03,281.4,150.1,11.6,939,19442,0.00,2.53,0.00,0.000,4,0.000,0.045,2589,885,1668
$GC,19493,1.03,281.4,143.9,10.8,941,19499,0.00,2.47,0.00,0.000,6,0.000,0.036,2589,2304,1668
$GC,19809,1.03,281.4,110.3,10.1,957,19810,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2304,1668
$GC,20120,1.03,281.4,82.7,7.9,972,20121,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2304,1668
$GC,20427,1.03,281.4,58.0,8.4,987,20432,0.00,2.53,0.00,0.000,4,0.000,0.044,2589,885,1668
$GC,20535,1.03,281.4,48.3,8.8,992,20539,0.00,2.47,0.00,0.000,6,0.000,0.035,2588,2305,1668
$GC,20862,1.03,281.4,20.6,8.5,1008,20866,0.00,2.53,0.00,0.000,4,0.000,0.045,2589,887,1668
$GC,20969,1.03,281.4,10.4,11.3,1013,20974,0.00,2.47,0.00,0.000,6,0.000,0.035,2589,2309,1668
$STATE,21046,end climb,SURFACE_DEPTH_REACHED
$STATE,21047,begin surface coast
$FINISH,0.6,1.019244
$STATE,21069,end surface coast,CONTROL_FINISHED_OK
$STATE,21069,begin surface
$SM_CCo,21152,0.00,0.000,0,0,1667,282.10
$SM_GC,1.65,11.95,0.00,0.00,0.087,0.000,0.000,65,2607,1667,-10.47,0.17,282.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1711
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,950.4,24.9
$24V_AH,23.5,15.599
$10V_AH,10.1,6.860
$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,27.475,110.825,398.350,0.000,0.000,18.065,26.487,167.472,8.750,0.000,0.000,11.927,1805.111,16602.455,527.158,2046.544,500.344,0.000,1527.731,0.000,2000.009,0.000,60.468,0.000
$DEVICE_MAMPS,190.983,79.768,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.587,693.138,565.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50515,1018
$CAP_FILE_SIZE,135925,0
$CFSIZE,260165632,254701568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160609,120307,6201.945,-1044.368,31,1.0,32,-10.4