version: 66.04
glider: 16
mission: 13
dive: 78
start: 6 19 109 4 34 26
data:
$ID,16
$MISSION,13
$DIVE,78
$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,-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,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,-2108987
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,042837,6216.374,-1139.337,31,1.1,32,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.2
$GPS2,043407,6216.395,-1139.321,12,1.4,17,-11.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$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,9.7,25203,-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,-59.45,0.000,6,0.000,0.000,70,2605,3415
$GC,81,-1.03,-146.6,6.5,-11.9,3,103,12.18,2.58,0.00,0.000,4,0.192,0.041,2132,1187,3416
$GC,249,-1.03,-146.6,35.8,-9.7,10,253,0.00,2.50,0.00,0.000,6,0.000,0.037,2132,2600,3417
$GC,564,-1.03,-146.6,66.8,-9.3,25,568,0.00,2.35,0.00,0.000,4,0.000,0.067,2132,3862,3418
$GC,597,-1.03,-146.6,70.3,-9.8,26,604,0.00,2.17,0.00,0.000,6,0.000,0.028,2132,2579,3417
$GC,915,-1.03,-146.6,101.0,-10.0,42,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3418
$GC,1223,-1.03,-146.6,132.9,-10.1,57,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2579,3418
$GC,1532,-1.03,-146.6,164.1,-10.1,72,1536,0.00,2.42,0.00,0.000,4,0.000,0.042,2132,1209,3418
$GC,1571,-1.03,-146.6,168.3,-10.5,74,1576,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2600,3419
$GC,1899,-1.03,-146.6,201.4,-9.9,90,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,2207,-1.03,-146.6,230.3,-8.8,105,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3418
$GC,2517,-1.03,-146.6,257.5,-8.9,120,2521,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1210,3418
$GC,2561,-1.07,-146.6,261.5,-8.7,122,2565,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2600,3417
$GC,2882,-1.07,-146.6,290.4,-8.9,138,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3418
$GC,3191,-1.07,-146.6,317.5,-8.0,153,3195,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1205,3417
$GC,3230,-1.07,-146.6,320.8,-8.5,155,3234,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2601,3417
$GC,3558,-1.07,-146.6,349.4,-8.6,171,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2601,3417
$GC,3868,-1.07,-146.6,375.8,-8.4,186,3872,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1202,3417
$GC,3924,-1.12,-146.6,380.7,-8.0,188,3930,0.00,2.47,0.00,0.000,6,0.000,0.039,2132,2607,3417
$GC,4239,-1.12,-146.6,407.1,-8.3,204,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2607,3417
$GC,4548,-1.12,-146.6,431.8,-8.2,219,4552,0.00,2.47,0.00,0.000,4,0.000,0.041,2132,1206,3417
$GC,4593,-1.16,-146.6,435.2,-7.1,221,4598,0.12,2.45,0.00,0.000,6,0.048,0.039,2093,2600,3417
$GC,4915,-1.05,-146.6,468.0,-10.5,237,4917,0.20,0.00,0.00,0.000,6,0.096,0.000,2131,2600,3417
$GC,5223,-1.05,-146.6,495.2,-8.8,252,5227,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1210,3417
$GC,5274,-1.09,-146.6,499.6,-8.5,254,5281,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3417
$GC,5597,-1.09,-146.6,528.7,-9.3,270,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3416
$GC,5906,-1.09,-146.6,556.7,-9.0,285,5910,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1204,3416
$GC,5975,-1.14,-146.6,562.8,-8.5,288,5979,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2609,3416
$GC,6301,-1.14,-146.6,592.2,-9.4,304,6305,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1206,3416
$GC,6341,-1.19,-146.6,595.9,-9.1,306,6346,0.15,2.45,0.00,0.000,6,0.045,0.040,2086,2602,3416
$GC,6670,-1.06,-146.6,632.5,-11.1,322,6675,0.17,2.45,0.00,0.000,4,0.099,0.041,2123,1211,3416
$GC,6703,-1.06,-146.6,636.1,-9.5,323,6709,0.00,2.45,0.00,0.000,6,0.000,0.040,2123,2599,3416
$GC,7018,-1.06,-146.6,663.7,-8.9,339,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3416
$GC,7328,-1.06,-146.6,689.6,-8.0,354,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3416
$GC,7637,-1.06,-146.6,714.8,-8.4,369,7641,0.00,2.45,0.00,0.000,4,0.000,0.043,2123,1211,3415
$GC,7686,-1.06,-146.6,719.3,-8.4,371,7691,0.00,2.45,0.00,0.000,6,0.000,0.041,2123,2598,3415
$GC,8003,-1.06,-146.6,745.8,-8.1,386,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3415
$GC,8312,-1.06,-146.6,772.3,-9.2,401,8316,0.00,2.45,0.00,0.000,4,0.000,0.043,2123,1211,3416
$GC,8390,-1.10,-146.6,780.0,-11.4,404,8396,0.00,2.47,0.00,0.000,6,0.000,0.042,2123,2608,3415
$GC,8705,-1.10,-146.6,809.3,-9.1,420,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2608,3415
$GC,9014,-1.10,-146.6,835.9,-8.2,435,9018,0.00,2.50,0.00,0.000,4,0.000,0.047,2123,1211,3414
$GC,9060,-1.16,-146.6,839.3,-7.5,437,9065,0.00,2.47,0.00,0.000,6,0.000,0.046,2123,2598,3414
$GC,9387,-1.16,-146.6,864.0,-7.8,453,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2598,3414
$GC,9696,-1.16,-146.6,889.1,-9.0,468,9701,0.00,2.50,0.00,0.000,4,0.000,0.050,2123,1208,3413
$GC,9747,-1.22,-146.6,893.8,-9.8,470,9752,0.15,2.50,0.00,0.000,6,0.049,0.048,2080,2599,3412
$GC,10063,-1.10,-146.6,927.3,-10.6,485,10065,0.20,0.00,0.00,0.000,6,0.103,0.000,2117,2599,3411
$STATE,10101,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10101,begin apogee
$GC,10108,-0.31,0.0,931.1,9.9,487,10244,0.93,0.00,131.95,1.187,6,0.140,0.000,2290,2311,2817
$STATE,10245,end apogee,CONTROL_FINISHED_OK
$STATE,10245,begin climb
$GC,10248,1.03,146.6,936.6,0.0,494,10395,1.35,2.67,133.65,1.176,4,0.070,0.054,2579,912,2218
$GC,10443,0.89,146.6,930.4,7.6,503,10448,0.15,2.50,0.00,0.000,6,0.100,0.043,2552,2303,2215
$GC,10770,0.82,146.6,902.7,10.7,519,10774,0.00,2.70,0.00,0.000,4,0.000,0.074,2552,3708,2211
$GC,10825,0.68,146.6,897.8,8.0,521,10832,0.22,2.50,0.00,0.000,6,0.100,0.037,2509,2308,2211
$GC,11142,0.81,212.5,882.7,5.2,537,11205,0.12,0.00,60.95,1.140,6,0.054,0.000,2543,2308,1950
$GC,11510,0.81,212.5,852.9,8.8,555,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2307,1943
$GC,11820,0.81,213.8,828.4,7.5,570,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2308,1941
$GC,12129,0.82,216.7,805.9,7.4,585,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2307,1940
$GC,12438,0.85,246.5,785.2,6.5,600,12475,0.00,2.65,31.45,1.074,4,0.000,0.055,2543,897,1811
$GC,12532,0.90,246.5,778.1,7.8,603,12536,0.00,2.53,0.00,0.000,6,0.000,0.041,2543,2308,1806
$GC,12848,0.95,246.5,753.2,7.9,618,12853,0.12,2.62,0.00,0.000,4,0.054,0.068,2577,3701,1806
$GC,12888,0.86,246.5,749.3,10.6,620,12892,0.15,2.47,0.00,0.000,6,0.104,0.035,2549,2300,1806
$GC,13215,0.86,246.5,722.2,8.1,636,13219,0.00,2.58,0.00,0.000,4,0.000,0.054,2549,889,1805
$GC,13264,0.86,246.5,717.8,8.9,638,13269,0.00,2.53,0.00,0.000,6,0.000,0.039,2549,2311,1804
$GC,13580,0.91,246.5,692.0,8.5,653,13584,0.00,2.60,0.00,0.000,4,0.000,0.067,2549,3699,1804
$GC,13635,0.91,246.5,686.7,10.0,655,13642,0.00,2.45,0.00,0.000,6,0.000,0.032,2549,2298,1804
$GC,13952,0.95,246.5,659.1,8.8,671,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2298,1804
$GC,14261,0.99,246.5,633.4,8.1,686,14263,0.12,0.00,0.00,0.000,6,0.051,0.000,2581,2298,1804
$GC,14570,0.95,246.5,604.2,9.4,701,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2297,1804
$GC,14879,0.90,246.5,574.6,9.6,716,14881,0.12,0.00,0.00,0.000,6,0.093,0.000,2558,2296,1804
$GC,15188,0.90,246.5,547.9,8.8,731,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1804
$GC,15498,0.90,246.5,520.1,8.9,746,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1804
$GC,15807,0.90,246.5,493.3,8.5,761,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1805
$GC,16116,0.90,246.5,468.6,7.9,776,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1805
$GC,16425,0.90,246.5,444.6,7.8,791,16426,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1805
$GC,16735,0.90,246.5,420.7,8.0,806,16736,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2296,1805
$GC,17044,0.90,246.5,395.3,8.0,821,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2295,1805
$GC,17353,0.90,246.5,369.9,8.5,836,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2295,1804
$GC,17663,0.94,246.5,342.6,9.1,851,17664,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2295,1805
$GC,17972,0.94,246.5,315.6,8.7,866,17976,0.00,2.60,0.00,0.000,4,0.000,0.061,2558,3708,1805
$GC,18016,0.94,246.5,311.3,9.5,868,18020,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,2293,1805
$GC,18343,0.99,246.5,284.6,8.4,884,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2292,1805
$GC,18652,1.04,246.5,259.1,8.1,899,18654,0.12,0.00,0.00,0.000,6,0.048,0.000,2590,2292,1805
$GC,18961,0.98,246.5,228.9,10.1,914,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2292,1805
$GC,19271,0.93,246.5,198.7,9.8,929,19272,0.15,0.00,0.00,0.000,6,0.091,0.000,2562,2291,1805
$GC,19580,0.93,246.5,173.3,8.1,944,19584,0.00,2.60,0.00,0.000,4,0.000,0.061,2562,3705,1806
$GC,19624,0.93,246.5,169.4,9.3,946,19628,0.00,2.45,0.00,0.000,6,0.000,0.030,2562,2290,1806
$GC,19946,0.98,246.5,142.2,8.5,962,19951,0.00,2.47,0.00,0.000,4,0.000,0.048,2562,900,1806
$GC,19987,1.02,246.5,138.4,8.6,964,19992,0.00,2.45,0.00,0.000,6,0.000,0.036,2561,2304,1805
$GC,20315,1.02,246.5,110.2,8.4,980,20319,0.00,2.58,0.00,0.000,4,0.000,0.061,2562,3704,1806
$GC,20347,1.02,246.5,107.1,8.5,981,20354,0.00,2.42,0.00,0.000,6,0.000,0.030,2561,2295,1806
$GC,20664,1.07,255.7,82.8,7.2,997,20679,0.15,2.53,8.75,0.548,4,0.045,0.046,2607,908,1774
$GC,20719,0.99,255.7,77.9,10.7,999,20724,0.17,2.45,0.00,0.000,6,0.089,0.035,2573,2303,1773
$GC,21035,0.99,255.7,51.9,8.2,1014,21039,0.00,2.58,0.00,0.000,4,0.000,0.061,2573,3702,1773
$GC,21067,0.99,255.7,48.7,8.9,1015,21074,0.00,2.42,0.00,0.000,6,0.000,0.030,2573,2294,1773
$GC,21385,1.04,255.7,21.6,8.4,1031,21389,0.00,2.47,0.00,0.000,4,0.000,0.045,2573,899,1773
$GC,21475,1.08,255.7,13.6,8.8,1035,21479,0.00,2.45,0.00,0.000,6,0.000,0.035,2573,2302,1772
$STATE,21608,end climb,SURFACE_DEPTH_REACHED
$STATE,21608,begin surface coast
$FINISH,1.4,1.026537
$STATE,21630,end surface coast,CONTROL_FINISHED_OK
$STATE,21630,begin surface
$SM_CCo,21713,0.00,0.000,0,0,1770,257.07
$SM_GC,1.29,11.93,0.00,0.00,0.090,0.000,0.000,75,2599,1770,-10.45,-0.03,257.07
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1711
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,875.1,65.6
$24V_AH,23.5,17.186
$10V_AH,10.1,7.900
$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,29.000,140.325,366.750,0.000,0.000,17.993,28.620,156.917,8.000,0.000,0.000,17.037,1853.724,17079.268,501.659,2097.946,505.049,0.000,1542.013,0.000,2044.221,0.000,52.856,0.000
$DEVICE_MAMPS,191.750,74.399,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,759.793,720.685,566.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53650,1043
$CAP_FILE_SIZE,146509,0
$CFSIZE,260165632,253923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190609,103737,6219.234,-1139.415,41,2.0,42,-11.0