version: 66.04
glider: 16
mission: 13
dive: 80
start: 6 19 109 16 44 21
data:
$ID,16
$MISSION,13
$DIVE,80
$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,-2109018.2
$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,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
$GPS1,163830,6222.344,-1142.323,40,1.5,46,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.8
$GPS2,164402,6222.368,-1142.421,15,1.5,15,-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,19.3,14285,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.55,0.000,6,0.000,0.000,72,2608,3416
$GC,80,-1.03,-146.6,7.9,-15.3,3,102,11.80,2.35,0.00,0.000,4,0.179,0.058,2131,3864,3417
$GC,197,-1.03,-146.6,33.1,-10.5,8,201,0.00,2.20,0.00,0.000,6,0.000,0.027,2131,2571,3418
$GC,526,-1.03,-146.6,60.6,-8.5,24,530,0.00,2.38,0.00,0.000,4,0.000,0.064,2131,3857,3418
$GC,566,-1.03,-146.6,64.5,-10.0,26,570,0.00,2.15,0.00,0.000,6,0.000,0.028,2131,2587,3418
$GC,893,-1.03,-146.6,94.3,-9.3,42,897,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1213,3418
$GC,925,-1.03,-146.6,97.3,-8.8,43,932,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2606,3419
$GC,1242,-1.03,-146.6,125.1,-8.7,59,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,1553,-1.03,-146.6,151.8,-8.6,74,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,1860,-1.03,-146.6,179.0,-8.7,89,1864,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1215,3419
$GC,1900,-1.03,-146.6,182.5,-8.4,91,1904,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2606,3419
$GC,2226,-1.03,-146.6,212.0,-9.1,107,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3418
$GC,2536,-1.03,-146.6,241.0,-9.5,122,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2606,3419
$GC,2844,-1.03,-146.6,269.8,-9.2,137,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3419
$GC,3154,-1.03,-146.6,298.0,-9.0,152,3158,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1213,3419
$GC,3194,-1.07,-146.6,301.6,-9.1,154,3198,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2605,3418
$GC,3520,-1.07,-146.6,331.7,-9.2,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2605,3418
$GC,3830,-1.07,-146.6,359.8,-9.0,185,3834,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1214,3418
$GC,3862,-1.07,-146.6,362.9,-9.3,186,3868,0.00,2.45,0.00,0.000,6,0.000,0.038,2132,2604,3418
$GC,4178,-1.07,-146.6,391.0,-8.8,202,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2603,3418
$GC,4487,-1.07,-146.6,418.3,-8.8,217,4491,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1214,3418
$GC,4522,-1.11,-146.6,421.3,-8.7,218,4528,0.00,2.45,0.00,0.000,6,0.000,0.039,2132,2606,3418
$GC,4838,-1.11,-146.6,448.1,-8.5,234,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2606,3418
$GC,5147,-1.11,-146.6,474.4,-8.5,249,5151,0.00,2.45,0.00,0.000,4,0.000,0.041,2132,1214,3417
$GC,5192,-1.17,-146.6,478.1,-8.1,251,5197,0.12,2.45,0.00,0.000,6,0.048,0.039,2092,2606,3417
$GC,5513,-1.06,-146.6,510.9,-10.2,267,5515,0.17,0.00,0.00,0.000,6,0.099,0.000,2125,2606,3417
$GC,5822,-1.06,-146.6,537.5,-8.8,282,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2606,3417
$GC,6131,-1.06,-146.6,565.5,-9.1,297,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2606,3417
$GC,6441,-1.06,-146.6,593.0,-8.6,312,6445,0.00,2.45,0.00,0.000,4,0.000,0.042,2125,1214,3417
$GC,6481,-1.10,-146.6,596.2,-8.1,314,6485,0.00,2.45,0.00,0.000,6,0.000,0.040,2125,2605,3417
$GC,6807,-1.10,-146.6,623.2,-8.2,330,6811,0.00,2.45,0.00,0.000,4,0.000,0.042,2125,1214,3417
$GC,6856,-1.10,-146.6,627.4,-8.0,332,6861,0.00,2.45,0.00,0.000,6,0.000,0.040,2125,2603,3417
$GC,7172,-1.10,-146.6,653.3,-8.2,347,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3417
$GC,7481,-1.10,-146.6,680.3,-8.6,362,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2604,3417
$GC,7791,-1.10,-146.6,705.7,-7.8,377,7795,0.00,2.45,0.00,0.000,4,0.000,0.043,2124,1215,3416
$GC,7835,-1.15,-146.6,709.3,-7.8,379,7840,0.00,2.45,0.00,0.000,6,0.000,0.041,2125,2600,3416
$GC,8156,-1.15,-146.6,734.4,-7.7,395,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2601,3416
$GC,8466,-1.15,-146.6,759.5,-7.8,410,8470,0.00,2.47,0.00,0.000,4,0.000,0.044,2125,1205,3416
$GC,8506,-1.21,-146.6,762.6,-7.9,412,8511,0.15,2.47,0.00,0.000,6,0.048,0.043,2080,2601,3416
$GC,8832,-1.11,-146.6,794.1,-9.6,428,8834,0.20,0.00,0.00,0.000,6,0.097,0.000,2118,2601,3415
$GC,9141,-1.11,-146.6,819.1,-8.0,443,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2602,3414
$STATE,9448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9448,begin apogee
$GC,9455,-0.31,0.0,845.3,8.5,458,9591,0.85,0.00,130.88,1.126,6,0.104,0.000,2290,2311,2817
$STATE,9592,end apogee,CONTROL_FINISHED_OK
$STATE,9592,begin climb
$GC,9595,1.03,146.6,850.8,0.0,465,9732,1.35,0.00,132.80,1.117,6,0.069,0.000,2580,2311,2219
$GC,10050,0.92,146.6,826.1,7.5,487,10054,0.00,2.67,0.00,0.000,4,0.000,0.074,2580,3704,2212
$GC,10105,0.75,146.6,821.6,8.3,489,10112,0.30,2.47,0.00,0.000,6,0.097,0.036,2522,2312,2211
$GC,10421,0.78,178.6,801.8,6.4,505,10452,0.00,0.00,29.35,1.053,6,0.000,0.000,2522,2312,2088
$GC,10751,0.84,186.4,779.0,7.2,521,10761,0.00,0.00,7.62,0.877,6,0.000,0.000,2522,2312,2057
$GC,11061,0.99,262.8,760.8,4.9,536,11140,0.25,0.00,73.03,1.068,6,0.046,0.000,2586,2312,1744
$GC,11449,0.93,262.8,723.7,10.1,555,11454,0.12,2.60,0.00,0.000,4,0.103,0.058,2563,897,1735
$GC,11516,0.93,262.8,717.1,9.1,558,11521,0.00,2.50,0.00,0.000,6,0.000,0.040,2562,2304,1733
$GC,11837,0.93,262.8,689.4,9.2,574,11841,0.00,2.65,0.00,0.000,4,0.000,0.068,2562,3706,1733
$GC,11869,0.93,262.8,685.9,10.0,575,11876,0.00,2.47,0.00,0.000,6,0.000,0.034,2562,2300,1733
$GC,12185,0.93,262.8,656.7,9.1,591,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2300,1732
$GC,12494,0.93,262.8,629.8,8.6,606,12499,0.00,2.55,0.00,0.000,4,0.000,0.053,2562,895,1732
$GC,12534,0.93,262.8,626.3,8.7,608,12539,0.00,2.50,0.00,0.000,6,0.000,0.038,2562,2311,1730
$GC,12861,0.93,262.8,599.4,8.0,624,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2311,1730
$GC,13170,0.93,262.8,574.5,8.4,639,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2311,1730
$GC,13479,0.93,262.8,547.9,8.6,654,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2311,1730
$GC,13789,0.93,262.8,520.6,8.9,669,13793,0.00,2.55,0.00,0.000,4,0.000,0.048,2562,894,1730
$GC,13829,0.93,262.8,516.9,9.2,671,13833,0.00,2.47,0.00,0.000,6,0.000,0.036,2562,2300,1730
$GC,14155,0.93,262.8,488.2,8.6,687,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2301,1730
$GC,14465,0.93,262.8,461.8,8.6,702,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2301,1730
$GC,14774,0.93,262.8,435.4,8.6,717,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2301,1731
$GC,15083,0.93,262.8,408.3,8.8,732,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2301,1731
$GC,15393,0.97,262.8,379.6,9.3,747,15397,0.00,2.53,0.00,0.000,4,0.000,0.046,2562,890,1731
$GC,15432,1.01,262.8,375.9,9.8,749,15437,0.00,2.47,0.00,0.000,6,0.000,0.035,2562,2305,1731
$GC,15759,1.01,262.8,346.3,8.8,765,15760,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2306,1731
$GC,16069,1.06,262.8,319.3,8.8,780,16071,0.12,0.00,0.00,0.000,6,0.048,0.000,2603,2305,1731
$GC,16378,0.99,262.8,285.7,10.9,795,16383,0.15,2.53,0.00,0.000,4,0.088,0.045,2574,892,1731
$GC,16418,0.99,262.8,281.4,10.6,797,16422,0.00,2.47,0.00,0.000,6,0.000,0.036,2574,2309,1731
$GC,16744,0.99,262.8,250.9,9.3,813,16746,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2309,1731
$GC,17053,0.99,262.8,222.1,9.3,828,17058,0.00,2.55,0.00,0.000,4,0.000,0.045,2574,888,1731
$GC,17086,0.99,262.8,218.8,9.8,829,17093,0.00,2.47,0.00,0.000,6,0.000,0.035,2574,2302,1731
$GC,17402,0.99,262.8,189.8,9.0,845,17403,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2302,1732
$GC,17711,0.99,262.8,161.9,9.1,860,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2302,1732
$GC,18023,0.99,262.8,132.9,9.4,875,18027,0.00,2.53,0.00,0.000,4,0.000,0.044,2574,891,1732
$GC,18067,0.99,262.8,128.3,9.9,877,18071,0.00,2.47,0.00,0.000,6,0.000,0.035,2574,2308,1732
$GC,18388,0.99,262.8,98.8,9.1,893,18389,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2308,1732
$GC,18697,0.99,262.8,71.9,8.6,908,18698,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2308,1732
$GC,19007,0.99,262.8,46.3,8.2,923,19011,0.00,2.53,0.00,0.000,4,0.000,0.045,2574,892,1732
$GC,19040,1.03,262.8,43.5,7.9,924,19046,0.00,2.45,0.00,0.000,6,0.000,0.035,2574,2305,1732
$GC,19358,1.07,262.8,19.1,7.6,940,19359,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2305,1732
$STATE,19581,end climb,SURFACE_DEPTH_REACHED
$STATE,19581,begin surface coast
$FINISH,0.6,1.025112
$STATE,19602,end surface coast,CONTROL_FINISHED_OK
$STATE,19602,begin surface
$SM_CCo,19685,0.00,0.000,0,0,1729,266.89
$SM_GC,1.62,11.65,0.00,0.00,0.077,0.000,0.000,75,2603,1729,-10.46,0.08,266.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1728
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.2,27.8
$24V_AH,23.6,17.453
$10V_AH,10.1,8.072
$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,27.250,109.525,373.675,0.000,0.000,18.003,30.745,160.784,7.500,0.000,0.000,15.243,1668.477,15529.107,496.008,1838.160,482.573,0.000,1394.598,0.000,1795.109,0.000,54.319,0.000
$DEVICE_MAMPS,179.478,74.399,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,691.052,656.757,547.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47482,952
$CAP_FILE_SIZE,124577,0
$CFSIZE,260165632,253820928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190609,221341,6226.025,-1140.684,35,1.4,39,-11.0