version: 66.04
glider: 16
mission: 13
dive: 81
start: 6 19 109 22 26 22
data:
$ID,16
$MISSION,13
$DIVE,81
$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,-2109056.2
$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,26
$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
$GPS1,221341,6226.025,-1140.684,35,1.4,39,-11.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.7
$GPS2,222604,6226.088,-1140.703,17,2.4,36,-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,15.7,7269,-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,-56.15,0.000,6,0.000,0.000,73,2604,3415
$GC,80,-1.03,-146.6,7.8,-15.3,3,102,11.82,2.58,0.00,0.000,4,0.182,0.041,2128,1187,3416
$GC,158,-1.03,-146.6,29.9,-10.4,6,162,0.00,2.50,0.00,0.000,6,0.000,0.036,2128,2600,3417
$GC,474,-1.03,-146.6,64.2,-10.2,21,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,783,-1.03,-146.6,95.8,-10.6,36,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1094,-1.03,-146.6,129.7,-10.8,51,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3418
$GC,1402,-1.03,-146.6,161.8,-10.2,66,1406,0.00,2.50,0.00,0.000,4,0.000,0.039,2128,1187,3418
$GC,1434,-1.03,-146.6,165.2,-9.7,67,1441,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2603,3418
$GC,1750,-1.03,-146.6,195.8,-9.7,83,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2604,3417
$GC,2059,-1.03,-146.6,224.6,-9.0,98,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,2369,-1.03,-146.6,253.5,-9.2,113,2373,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1186,3417
$GC,2412,-1.03,-146.6,257.6,-8.8,115,2417,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2602,3417
$GC,2734,-1.03,-146.6,287.2,-9.2,131,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3417
$GC,3044,-1.03,-146.6,316.3,-9.3,146,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3417
$GC,3353,-1.03,-146.6,344.3,-9.0,161,3357,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1187,3417
$GC,3397,-1.03,-146.6,348.5,-8.8,163,3401,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2603,3417
$GC,3720,-1.03,-146.6,376.4,-8.3,179,3725,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1187,3417
$GC,3748,-1.03,-146.6,378.8,-8.3,180,3752,0.00,2.50,0.00,0.000,6,0.000,0.038,2128,2608,3416
$GC,4069,-1.03,-146.6,404.3,-7.9,196,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2608,3416
$GC,4378,-1.03,-146.6,429.6,-8.3,211,4382,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1188,3416
$GC,4440,-1.03,-146.6,434.9,-8.1,213,4446,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2605,3416
$GC,4755,-1.03,-146.6,462.1,-8.8,229,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3416
$GC,5065,-1.03,-146.6,489.3,-8.8,244,5069,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1188,3415
$GC,5099,-1.03,-146.6,492.3,-9.1,245,5105,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2600,3415
$GC,5415,-1.03,-146.6,520.2,-8.9,261,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3415
$GC,5725,-1.03,-146.6,548.1,-9.4,276,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3415
$GC,6034,-1.03,-146.6,576.8,-9.3,291,6039,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1185,3415
$GC,6079,-1.08,-146.6,581.0,-9.2,293,6083,0.00,2.50,0.00,0.000,6,0.000,0.039,2129,2605,3415
$GC,6400,-1.08,-146.6,609.7,-8.9,309,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2606,3415
$GC,6709,-1.08,-146.6,635.5,-8.1,324,6713,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1188,3414
$GC,6759,-1.14,-146.6,639.6,-8.5,326,6763,0.00,2.47,0.00,0.000,6,0.000,0.040,2129,2601,3414
$GC,7075,-1.14,-146.6,664.5,-7.9,341,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2602,3414
$GC,7384,-1.14,-146.6,689.6,-8.1,356,7388,0.00,2.50,0.00,0.000,4,0.000,0.042,2129,1187,3414
$GC,7456,-1.19,-146.6,695.8,-9.1,359,7461,0.15,2.50,0.00,0.000,6,0.046,0.041,2084,2600,3414
$GC,7772,-1.09,-146.6,730.7,-11.4,374,7774,0.20,0.00,0.00,0.000,6,0.100,0.000,2122,2600,3414
$GC,8081,-1.09,-146.6,760.0,-9.2,389,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2600,3414
$GC,8390,-1.09,-146.6,786.1,-8.2,404,8395,0.00,2.53,0.00,0.000,4,0.000,0.047,2122,1185,3412
$GC,8431,-1.14,-146.6,789.7,-9.3,406,8435,0.00,2.53,0.00,0.000,6,0.000,0.045,2122,2601,3412
$STATE,8734,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8735,begin apogee
$GC,8742,-0.31,0.0,815.0,8.3,421,8877,0.85,0.00,129.62,1.109,6,0.124,0.000,2286,2283,2817
$STATE,8878,end apogee,CONTROL_FINISHED_OK
$STATE,8878,begin climb
$GC,8880,1.03,146.6,820.9,0.0,428,9022,1.40,2.85,132.40,1.096,4,0.068,0.075,2585,3707,2218
$GC,9235,0.83,146.6,801.5,8.9,444,9240,0.22,2.50,0.00,0.000,6,0.102,0.037,2543,2309,2213
$GC,9551,0.83,183.8,780.1,6.2,459,9591,0.00,0.00,33.92,1.040,6,0.000,0.000,2543,2309,2066
$GC,9901,0.84,192.6,755.6,7.2,476,9911,0.00,0.00,8.75,0.893,6,0.000,0.000,2543,2309,2031
$GC,10210,0.87,218.4,734.6,6.6,491,10240,0.00,2.72,25.15,1.009,4,0.000,0.071,2543,3707,1926
$GC,10298,0.87,218.4,728.5,7.5,495,10302,0.00,2.53,0.00,0.000,6,0.000,0.035,2543,2291,1924
$GC,10620,0.93,237.7,707.2,6.8,511,10644,0.00,2.65,18.62,0.976,4,0.000,0.055,2543,897,1847
$GC,10680,0.99,242.1,703.0,7.4,513,10691,0.15,2.53,5.55,0.755,6,0.049,0.039,2583,2316,1830
$GC,11015,0.93,242.1,673.5,9.1,530,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2316,1827
$GC,11322,0.87,242.1,643.6,9.7,545,11324,0.17,0.00,0.00,0.000,6,0.094,0.000,2550,2317,1826
$GC,11632,0.91,242.1,616.7,8.6,560,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2317,1826
$GC,11941,0.96,242.1,591.4,8.1,575,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2316,1826
$GC,12250,1.00,242.1,567.7,7.7,590,12252,0.12,0.00,0.00,0.000,6,0.051,0.000,2587,2316,1825
$GC,12559,0.94,242.1,538.3,10.1,605,12561,0.12,0.00,0.00,0.000,6,0.094,0.000,2563,2317,1825
$GC,12868,0.94,242.1,509.9,9.1,620,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2317,1826
$GC,13177,0.94,242.1,483.0,8.4,635,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1825
$GC,13487,0.94,242.1,457.6,8.2,650,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,13796,0.94,242.1,432.1,8.1,665,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1825
$GC,14105,0.94,242.1,406.3,8.3,680,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,14415,0.94,242.1,380.4,8.4,695,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,14724,0.94,242.1,355.6,7.8,710,14725,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,15033,0.94,242.1,331.1,7.9,725,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,15342,0.94,242.1,306.0,8.2,740,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2316,1826
$GC,15651,0.94,242.1,281.3,8.0,755,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2317,1826
$GC,15961,0.94,242.1,256.6,7.9,770,15962,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2317,1826
$GC,16270,0.94,242.1,231.8,8.1,785,16274,0.00,2.55,0.00,0.000,4,0.000,0.046,2563,886,1826
$GC,16303,0.94,242.1,228.8,8.3,786,16309,0.00,2.47,0.00,0.000,6,0.000,0.036,2563,2302,1826
$GC,16618,0.94,242.1,203.0,8.2,802,16622,0.00,2.58,0.00,0.000,4,0.000,0.062,2563,3701,1826
$GC,16657,0.94,242.1,199.4,8.2,804,16662,0.00,2.45,0.00,0.000,6,0.000,0.031,2563,2286,1826
$GC,16984,0.94,242.1,172.8,7.9,820,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2285,1826
$GC,17294,0.94,242.1,148.1,7.9,835,17295,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2286,1826
$GC,17604,0.94,242.1,123.1,8.5,850,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2286,1826
$GC,17912,0.94,242.1,97.9,7.9,865,17914,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2286,1826
$GC,18221,0.94,242.1,72.2,8.6,880,18226,0.00,2.60,0.00,0.000,4,0.000,0.060,2563,3701,1826
$GC,18255,0.94,242.1,69.0,9.7,881,18261,0.00,2.42,0.00,0.000,6,0.000,0.030,2563,2292,1826
$GC,18573,0.98,242.1,39.2,9.1,897,18577,0.00,2.47,0.00,0.000,4,0.000,0.047,2563,898,1827
$GC,18637,1.04,242.1,33.6,7.5,900,18642,0.10,2.45,0.00,0.000,6,0.051,0.035,2596,2305,1826
$GC,18964,0.99,242.1,4.6,8.9,916,18968,0.00,2.55,0.00,0.000,4,0.000,0.060,2596,3702,1827
$STATE,18982,end climb,SURFACE_DEPTH_REACHED
$STATE,18983,begin surface coast
$FINISH,0.7,1.026542
$STATE,19006,end surface coast,CONTROL_FINISHED_OK
$STATE,19006,begin surface
$SM_CCo,19031,3.65,0.370,0,0,1796,250.21
$SM_GC,2.78,0.00,0.00,3.65,0.000,0.000,0.370,67,2582,1796,-10.55,-0.51,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1732
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.9,47.3
$24V_AH,23.6,17.587
$10V_AH,10.1,8.156
$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,27.300,95.850,354.025,3.650,0.000,69.432,86.746,309.655,6.750,0.000,0.000,37.230,1612.347,15145.413,466.553,1811.201,744.201,0.000,1342.523,0.000,1749.745,0.000,46.932,0.000
$DEVICE_MAMPS,181.779,75.166,1109.082,370.461,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.479,642.101,515.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47398,918
$CAP_FILE_SIZE,125860,0
$CFSIZE,260165632,253759488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200609,034506,6228.974,-1140.466,43,1.5,49,-11.1