version: 66.04
glider: 16
mission: 13
dive: 68
start: 6 16 109 12 9 14
data:
$ID,16
$MISSION,13
$DIVE,68
$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,-2108811.8
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,120307,6201.945,-1044.368,31,1.0,32,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.0
$GPS2,120856,6201.986,-1044.365,13,1.0,13,-10.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6201.986,-1107.393
$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,280.4,20000,-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,-59.92,0.000,6,0.000,0.000,64,2607,3418
$GC,81,-1.03,-146.6,6.1,-11.3,3,103,12.20,2.55,0.00,0.000,4,0.193,0.035,2130,1178,3419
$GC,216,-1.03,-146.6,29.3,-8.6,9,221,0.00,2.50,0.00,0.000,6,0.000,0.037,2131,2596,3419
$GC,544,-1.03,-146.6,60.0,-8.6,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3419
$GC,853,-1.03,-146.6,87.6,-9.3,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2596,3419
$GC,1162,-1.03,-146.6,117.4,-9.5,55,1166,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1181,3420
$GC,1206,-1.03,-146.6,121.7,-9.0,57,1210,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2599,3420
$GC,1528,-1.03,-146.6,150.3,-8.6,73,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,1836,-1.03,-146.6,181.0,-10.1,88,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3419
$GC,2145,-1.03,-146.6,213.5,-10.6,103,2149,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1186,3419
$GC,2184,-1.03,-146.6,217.7,-10.4,105,2189,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2608,3419
$GC,2513,-1.03,-146.6,251.9,-10.3,121,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3420
$GC,2821,-1.03,-146.6,282.7,-9.7,136,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3419
$GC,3130,-1.03,-146.6,313.0,-9.8,151,3135,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1188,3419
$GC,3208,-1.03,-146.6,320.8,-9.1,154,3215,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2608,3419
$GC,3525,-1.03,-146.6,351.6,-9.5,170,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3419
$GC,3834,-1.03,-146.6,381.2,-9.6,185,3838,0.00,2.53,0.00,0.000,4,0.000,0.041,2130,1179,3419
$GC,3884,-1.08,-146.6,386.1,-9.5,187,3888,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2605,3418
$GC,4199,-1.08,-146.6,414.8,-8.7,202,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2605,3419
$GC,4509,-1.08,-146.6,440.7,-8.4,217,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3418
$GC,4818,-1.08,-146.6,468.4,-9.3,232,4822,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1188,3418
$GC,4857,-1.13,-146.6,472.0,-9.3,234,4862,0.00,2.50,0.00,0.000,6,0.000,0.039,2130,2609,3418
$GC,5185,-1.13,-146.6,501.6,-8.9,250,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2609,3418
$GC,5493,-1.13,-146.6,530.5,-9.5,265,5498,0.00,2.53,0.00,0.000,4,0.000,0.041,2130,1180,3418
$GC,5566,-1.18,-146.6,537.7,-10.0,268,5571,0.12,2.50,0.00,0.000,6,0.048,0.039,2091,2599,3418
$GC,5882,-1.09,-146.6,574.6,-11.5,283,5884,0.15,0.00,0.00,0.000,6,0.097,0.000,2120,2599,3418
$GC,6191,-1.09,-146.6,606.0,-9.9,298,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2599,3418
$GC,6500,-1.09,-146.6,635.6,-9.3,313,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2599,3418
$GC,6810,-1.09,-146.6,663.0,-8.8,328,6813,0.00,2.50,0.00,0.000,4,0.000,0.042,2120,1184,3417
$GC,6871,-1.09,-146.6,668.5,-9.2,330,6877,0.00,2.50,0.00,0.000,6,0.000,0.040,2120,2601,3417
$GC,7187,-1.09,-146.6,694.5,-8.3,346,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2602,3416
$GC,7496,-1.09,-146.6,718.7,-7.7,361,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2602,3417
$GC,7805,-1.09,-146.6,743.8,-8.4,376,7809,0.00,2.50,0.00,0.000,4,0.000,0.043,2120,1188,3417
$GC,7890,-1.09,-146.6,751.1,-8.7,380,7894,0.00,2.50,0.00,0.000,6,0.000,0.041,2120,2604,3417
$GC,8217,-1.09,-146.6,779.3,-8.5,396,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2604,3417
$GC,8527,-1.09,-146.6,805.9,-8.6,411,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2604,3417
$GC,8836,-1.09,-146.6,835.1,-9.8,426,8840,0.00,2.50,0.00,0.000,4,0.000,0.045,2120,1190,3416
$GC,8891,-1.09,-146.6,840.7,-10.2,428,8896,0.00,2.50,0.00,0.000,6,0.000,0.043,2120,2596,3416
$GC,9207,-1.09,-146.6,868.3,-8.5,443,9211,0.00,2.40,0.00,0.000,4,0.000,0.080,2120,3865,3416
$GC,9359,-1.09,-146.6,883.1,-10.2,450,9363,0.00,2.20,0.00,0.000,6,0.000,0.035,2120,2596,3416
$GC,9686,-1.09,-146.6,912.5,-9.0,466,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2594,3416
$GC,9995,-1.09,-146.6,937.8,-7.9,481,9999,0.00,2.50,0.00,0.000,4,0.000,0.051,2120,1195,3415
$GC,10090,-1.13,-146.6,946.6,-9.0,485,10094,0.00,2.50,0.00,0.000,6,0.000,0.046,2120,2600,3415
$GC,10411,-1.13,-146.6,972.1,-8.0,501,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2600,3415
$STATE,10593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10593,begin apogee
$GC,10601,-0.31,0.0,988.3,8.6,510,10737,0.82,0.00,133.00,1.201,6,0.103,0.000,2287,2291,2817
$STATE,10738,end apogee,CONTROL_FINISHED_OK
$STATE,10738,begin climb
$GC,10741,1.03,146.6,996.0,0.0,517,10884,1.38,0.00,134.82,1.192,6,0.074,0.000,2580,2290,2218
$GC,11194,0.92,146.6,967.6,8.1,539,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2290,2211
$GC,11503,0.82,146.6,942.1,8.1,554,11508,0.17,2.72,0.00,0.000,4,0.101,0.073,2543,3711,2209
$GC,11646,0.73,161.9,931.7,7.0,560,11666,0.12,2.50,13.55,1.048,6,0.107,0.038,2518,2309,2157
$GC,11990,0.85,232.0,913.8,5.1,577,12059,0.12,0.00,66.55,1.150,6,0.057,0.000,2554,2309,1871
$GC,12357,0.85,232.0,884.9,8.5,595,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2309,1863
$GC,12666,0.87,254.0,862.0,6.8,610,12692,0.00,2.70,20.58,1.066,4,0.000,0.069,2554,3707,1780
$GC,12743,0.87,254.0,856.2,8.5,613,12750,0.00,2.53,0.00,0.000,6,0.000,0.035,2554,2295,1779
$GC,13058,0.87,254.0,830.2,8.6,629,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1776
$GC,13368,0.87,254.0,804.2,7.9,644,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2294,1775
$GC,13677,0.88,260.0,780.6,7.3,659,13688,0.00,2.67,6.07,0.811,4,0.000,0.065,2554,3707,1757
$GC,13718,0.88,260.0,777.3,8.9,661,13722,0.00,2.50,0.00,0.000,6,0.000,0.034,2554,2293,1757
$GC,14044,0.93,260.0,749.1,9.6,677,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1757
$GC,14354,0.97,260.0,718.0,10.4,692,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1756
$GC,14663,1.02,260.0,686.6,10.0,707,14665,0.12,0.00,0.00,0.000,6,0.050,0.000,2590,2293,1756
$GC,14972,0.97,260.0,653.2,10.4,722,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2293,1756
$GC,15281,0.93,260.0,622.6,10.2,737,15283,0.15,0.00,0.00,0.000,6,0.091,0.000,2562,2293,1756
$GC,15590,0.93,260.0,594.1,9.3,752,15591,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,15900,0.93,260.0,564.6,9.3,767,15901,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,16209,0.93,260.0,536.8,8.9,782,16210,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,16518,0.93,260.0,508.9,9.1,797,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,16827,0.93,260.0,483.2,8.2,812,16829,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,17136,0.93,260.0,458.0,8.3,827,17138,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,17446,0.97,260.0,433.1,8.1,842,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,17755,0.97,260.0,408.5,8.0,857,17756,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,18065,1.01,260.0,382.8,8.4,872,18066,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,18374,1.01,260.0,357.6,8.2,887,18375,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2292,1756
$GC,18683,1.05,260.0,332.9,8.3,902,18685,0.12,0.00,0.00,0.000,6,0.049,0.000,2601,2291,1756
$GC,18993,0.99,260.0,302.9,9.7,917,18994,0.12,0.00,0.00,0.000,6,0.093,0.000,2578,2291,1757
$GC,19301,0.99,260.0,277.8,7.7,932,19305,0.00,2.50,0.00,0.000,4,0.000,0.048,2578,894,1757
$GC,19340,0.99,260.0,274.8,7.8,933,19346,0.00,2.47,0.00,0.000,6,0.000,0.035,2578,2309,1756
$GC,19656,0.99,260.0,251.5,7.5,949,19657,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1757
$GC,19965,0.99,260.0,227.0,8.2,964,19966,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2309,1757
$GC,20274,0.99,260.0,201.0,8.6,979,20278,0.00,2.53,0.00,0.000,4,0.000,0.046,2577,894,1757
$GC,20336,0.99,260.0,195.3,8.5,981,20342,0.00,2.45,0.00,0.000,6,0.000,0.035,2578,2300,1757
$GC,20651,0.99,260.0,168.5,8.1,997,20652,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1757
$GC,20961,0.99,260.0,141.6,8.8,1012,20962,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2300,1757
$GC,21270,0.99,260.0,113.5,8.8,1027,21271,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2300,1757
$GC,21580,0.99,260.0,85.0,9.0,1042,21584,0.00,2.50,0.00,0.000,4,0.000,0.045,2577,894,1757
$GC,21635,0.99,260.0,80.1,9.1,1044,21641,0.00,2.45,0.00,0.000,6,0.000,0.035,2577,2302,1757
$GC,21951,0.99,260.0,53.4,8.8,1060,21952,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2302,1757
$GC,22262,0.99,260.4,28.5,7.5,1075,22263,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2302,1757
$STATE,22567,end climb,SURFACE_DEPTH_REACHED
$STATE,22567,begin surface coast
$FINISH,0.6,1.026667
$STATE,22589,end surface coast,CONTROL_FINISHED_OK
$STATE,22589,begin surface
$SM_CCo,22672,0.00,0.000,0,0,1754,260.75
$SM_GC,1.57,11.40,0.00,0.00,0.065,0.000,0.000,73,2603,1754,-10.46,0.08,260.75
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1714
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,926.4,70.8
$24V_AH,23.5,15.737
$10V_AH,10.1,6.952
$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,27.025,91.250,374.575,0.000,0.000,17.994,32.088,174.462,8.250,0.000,0.000,15.636,1887.370,18019.893,487.802,2106.233,515.785,0.000,1495.248,0.000,2060.823,0.000,56.100,0.000
$DEVICE_MAMPS,192.517,79.768,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.911,744.142,590.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53668,1091
$CAP_FILE_SIZE,136657,0
$CFSIZE,260165632,254627840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160609,182824,6201.511,-1055.670,24,1.0,42,-10.5