version: 66.03
glider: 16
mission: 9
dive: 81
start: 6 24 108 16 3 19
data:
$ID,16
$MISSION,9
$DIVE,81
$D_SURF,2
$D_FLARE,3
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,1
$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,557.32159
$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,-2094502.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$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,20
$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
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,155708,6128.301,-829.954,40,1.2,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.9
$GPS2,160228,6128.233,-829.893,14,1.8,21,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,0.107
$KALMAN_X,-164803.2,-146.1,15354.7,-24759.8,-63192.4
$KALMAN_Y,-52643.9,1795.5,-1058.9,127058.2,-5524.8
$MHEAD_RNG_PITCHd_Wd,337.5,25519,-11.0,-6.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-121.35,0.000,2,0.000,0.000,71,2304,3053
$GC,153,-0.85,-146.6,4.3,-3.4,6,178,11.45,2.75,-7.18,0.000,4,0.170,0.088,2110,3712,3380
$GC,431,-0.65,-146.6,45.7,-13.4,18,436,0.22,2.60,0.00,0.000,6,0.091,0.054,2154,2295,3380
$GC,748,-0.61,-146.6,76.5,-8.3,33,752,0.00,2.62,0.00,0.000,4,0.000,0.067,2154,884,3380
$GC,810,-0.61,-146.6,82.1,-9.1,36,814,0.00,2.65,0.00,0.000,6,0.000,0.058,2154,2305,3380
$GC,1136,-0.61,-146.6,109.7,-8.1,52,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2305,3381
$GC,1446,-0.61,-146.6,132.8,-7.5,67,1450,0.00,2.65,0.00,0.000,4,0.000,0.064,2154,883,3381
$GC,1540,-0.61,-146.6,139.2,-7.2,71,1545,0.00,2.65,0.00,0.000,6,0.000,0.058,2154,2306,3380
$GC,1857,-0.56,-146.6,159.2,-6.5,86,1862,0.12,2.65,0.00,0.000,4,0.100,0.065,2177,883,3380
$GC,1903,-0.64,-146.6,162.3,-6.5,88,1907,0.00,2.62,0.00,0.000,6,0.000,0.058,2177,2299,3381
$GC,2223,-0.64,-146.6,184.2,-7.1,104,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2300,3381
$GC,2533,-0.64,-146.6,206.0,-6.8,119,2537,0.00,2.65,0.00,0.000,4,0.000,0.067,2177,883,3381
$GC,2595,-0.73,-146.6,210.2,-6.9,122,2600,0.17,2.65,0.00,0.000,6,0.039,0.058,2122,2307,3381
$GC,2922,-0.59,-146.6,242.1,-10.2,138,2927,0.20,2.67,0.00,0.000,4,0.086,0.067,2166,883,3381
$GC,2966,-0.65,-146.6,245.9,-7.7,140,2971,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2299,3381
$GC,3288,-0.65,-146.6,267.8,-6.6,156,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2300,3381
$GC,3598,-0.65,-146.6,286.2,-5.6,171,3602,0.00,2.65,0.00,0.000,4,0.000,0.068,2166,884,3380
$GC,3660,-0.71,-146.6,290.1,-6.8,174,3664,0.00,2.62,0.00,0.000,6,0.000,0.059,2166,2303,3381
$GC,3986,-0.71,-146.6,309.8,-6.2,190,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3380
$GC,4295,-0.71,-146.6,329.7,-6.9,205,4300,0.00,2.67,0.00,0.000,4,0.000,0.068,2166,881,3380
$GC,4363,-0.76,-146.6,334.1,-6.7,208,4368,0.15,2.62,0.00,0.000,6,0.043,0.058,2118,2299,3380
$GC,4684,-0.62,-146.6,362.6,-9.4,224,4689,0.20,2.67,0.00,0.000,4,0.086,0.068,2161,877,3380
$GC,4729,-0.67,-146.6,366.1,-6.8,226,4733,0.00,2.65,0.00,0.000,6,0.000,0.058,2161,2305,3380
$GC,5049,-0.67,-146.6,387.5,-6.3,242,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2305,3380
$GC,5359,-0.67,-146.6,407.7,-6.3,257,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2305,3380
$GC,5668,-0.67,-146.6,428.0,-6.4,272,5672,0.00,2.67,0.00,0.000,4,0.000,0.068,2161,877,3380
$GC,5730,-0.67,-146.6,432.0,-6.6,275,5734,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2300,3380
$GC,6056,-0.67,-146.6,452.3,-6.5,291,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3379
$GC,6366,-0.67,-146.6,470.5,-6.0,306,6371,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,881,3379
$GC,6423,-0.71,-146.6,473.6,-5.4,308,6429,0.00,2.62,0.00,0.000,6,0.000,0.059,2161,2300,3380
$GC,6738,-0.71,-146.6,491.0,-5.8,324,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2300,3380
$GC,7048,-0.71,-146.6,508.1,-5.0,339,7052,0.00,2.65,0.00,0.000,4,0.000,0.067,2161,884,3379
$GC,7092,-0.76,-146.6,510.6,-5.6,341,7097,0.12,2.62,0.00,0.000,6,0.047,0.058,2120,2304,3379
$GC,7414,-0.63,-146.6,536.6,-8.4,357,7419,0.17,2.67,0.00,0.000,4,0.089,0.068,2158,881,3379
$GC,7487,-0.67,-146.6,542.7,-7.3,360,7491,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2300,3379
$GC,7802,-0.67,-146.6,565.3,-6.8,375,7806,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,884,3379
$GC,7842,-0.72,-146.6,568.4,-8.6,377,7846,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2299,3379
$GC,8168,-0.72,-146.6,593.1,-7.5,393,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2300,3378
$GC,8477,-0.72,-146.6,616.1,-7.5,408,8482,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,881,3378
$GC,8533,-0.72,-146.6,620.0,-7.0,410,8540,0.00,2.60,0.00,0.000,6,0.000,0.059,2158,2300,3379
$GC,8849,-0.72,-146.6,641.3,-7.1,426,8853,0.00,2.70,0.00,0.000,4,0.000,0.084,2158,3712,3378
$GC,8881,-0.72,-146.6,643.9,-7.9,427,8888,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2291,3378
$GC,9197,-0.72,-146.6,667.8,-7.6,443,9202,0.00,2.62,0.00,0.000,4,0.000,0.069,2158,886,3378
$GC,9260,-0.79,-146.6,672.0,-6.5,446,9265,0.15,2.62,0.00,0.000,6,0.044,0.058,2112,2303,3377
$GC,9587,-0.67,-146.6,697.8,-8.0,462,9593,0.17,2.65,0.00,0.000,4,0.088,0.067,2151,888,3377
$GC,9628,-0.73,-146.6,700.3,-5.7,464,9632,0.00,2.60,0.00,0.000,6,0.000,0.060,2151,2300,3377
$GC,9954,-0.73,-146.6,719.7,-5.8,480,9959,0.00,2.65,0.00,0.000,4,0.000,0.069,2151,889,3378
$GC,9995,-0.81,-146.6,722.7,-7.7,482,10000,0.12,2.65,0.00,0.000,6,0.047,0.062,2111,2305,3377
$STATE,10010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10010,begin apogee
$GC,10017,-0.31,0.0,723.6,5.7,483,10153,0.60,0.00,132.05,1.113,6,0.099,0.000,2230,2202,2781
$STATE,10153,end apogee,CONTROL_FINISHED_OK
$STATE,10153,begin climb
$GC,10156,0.85,146.6,729.9,0.0,490,10299,1.17,2.78,130.65,1.091,4,0.079,0.072,2477,785,2182
$GC,10345,0.99,278.8,726.5,2.4,499,10469,0.17,2.70,116.30,1.081,6,0.072,0.061,2515,2203,1644
$GC,10777,0.99,278.8,698.7,6.3,520,10781,0.00,2.80,0.00,0.000,4,0.000,0.094,2515,3615,1643
$GC,10832,0.99,278.8,694.8,7.4,522,10838,0.00,2.70,0.00,0.000,6,0.000,0.068,2515,2199,1643
$GC,11147,0.99,278.8,671.1,8.6,538,11152,0.00,2.72,0.00,0.000,4,0.000,0.080,2515,785,1641
$GC,11203,0.99,278.8,666.1,8.3,540,11210,0.00,2.65,0.00,0.000,6,0.000,0.060,2515,2201,1640
$GC,11519,0.99,278.8,641.6,8.0,556,11524,0.00,2.75,0.00,0.000,4,0.000,0.086,2515,3613,1640
$GC,11586,0.99,278.8,635.6,9.2,559,11590,0.00,2.65,0.00,0.000,6,0.000,0.061,2515,2194,1639
$GC,11906,0.99,278.8,607.5,8.7,575,11911,0.00,2.67,0.00,0.000,4,0.000,0.072,2515,786,1639
$GC,11951,0.99,278.8,604.0,8.3,577,11955,0.00,2.62,0.00,0.000,6,0.000,0.057,2516,2201,1638
$GC,12271,0.99,278.8,580.2,7.5,593,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2200,1638
$GC,12581,0.99,278.8,557.8,7.3,608,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2201,1638
$GC,12890,0.99,278.8,535.1,7.2,623,12894,0.00,2.72,0.00,0.000,4,0.000,0.084,2515,3614,1638
$GC,12933,0.99,278.8,532.0,6.8,625,12938,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2201,1638
$GC,13255,0.99,278.8,511.1,6.4,641,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2202,1638
$GC,13564,0.99,278.8,487.1,8.7,656,13568,0.00,2.72,0.00,0.000,4,0.000,0.082,2515,3614,1639
$GC,13619,0.99,278.8,481.6,9.7,658,13625,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2202,1639
$GC,13934,0.99,278.8,453.8,7.9,674,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2201,1639
$GC,14243,0.99,278.8,431.8,6.5,689,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2201,1639
$GC,14553,0.99,278.8,411.8,6.4,704,14557,0.00,2.72,0.00,0.000,4,0.000,0.083,2515,3614,1639
$GC,14597,0.99,278.8,408.5,8.2,706,14601,0.00,2.62,0.00,0.000,6,0.000,0.061,2515,2195,1639
$GC,14918,0.99,278.8,386.4,6.9,722,14919,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2195,1640
$GC,15226,0.99,278.8,363.7,7.5,737,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2195,1640
$GC,15536,0.99,278.8,339.9,7.6,752,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2195,1640
$GC,15845,0.99,278.8,317.1,7.5,767,15849,0.00,2.75,0.00,0.000,4,0.000,0.082,2515,3620,1641
$GC,15884,0.99,278.8,313.8,9.1,769,15889,0.00,2.62,0.00,0.000,6,0.000,0.060,2515,2199,1641
$GC,16210,0.99,278.8,287.5,7.5,785,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1641
$GC,16520,0.99,278.8,265.3,6.9,800,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2198,1641
$GC,16829,0.99,279.0,243.9,6.0,815,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,1641
$GC,17139,1.04,320.2,226.8,4.9,830,17178,0.00,0.00,35.12,0.760,6,0.000,0.000,2515,2199,1475
$GC,17488,1.09,320.2,202.7,7.5,847,17493,0.10,2.72,0.00,0.000,4,0.066,0.080,2538,3617,1474
$GC,17527,1.09,320.2,199.2,9.9,849,17532,0.00,2.62,0.00,0.000,6,0.000,0.059,2538,2198,1474
$GC,17854,1.09,320.2,171.5,8.5,865,17859,0.00,2.65,0.00,0.000,4,0.000,0.068,2538,781,1474
$GC,17899,1.09,320.2,167.6,8.8,867,17903,0.00,2.62,0.00,0.000,6,0.000,0.053,2538,2205,1474
$GC,18220,1.09,320.2,140.6,8.0,883,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2205,1474
$GC,18530,1.09,320.2,117.3,7.0,898,18532,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2205,1474
$GC,18838,1.09,320.2,95.9,6.9,913,18839,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2205,1475
$GC,19147,1.09,320.2,74.8,6.7,928,19149,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2205,1475
$GC,19457,1.09,320.2,54.0,6.5,943,19461,0.00,2.70,0.00,0.000,4,0.000,0.081,2538,3619,1475
$GC,19497,1.09,320.2,51.0,8.4,945,19501,0.00,2.62,0.00,0.000,6,0.000,0.059,2538,2199,1475
$GC,19823,1.10,330.2,30.9,5.7,961,19838,0.00,2.67,9.80,0.585,4,0.000,0.067,2538,776,1433
$GC,19878,1.10,330.2,27.4,6.2,962,19885,0.00,2.62,0.00,0.000,6,0.000,0.054,2538,2201,1433
$GC,20194,1.10,330.2,5.3,8.3,978,20195,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2201,1433
$STATE,20232,end climb,SURFACE_DEPTH_REACHED
$STATE,20232,begin surface coast
$FINISH,0.6,1.027064
$STATE,20254,end surface coast,CONTROL_FINISHED_OK
$STATE,20254,begin surface
$SM_CCo,20276,110.03,0.594,1,0,508,557.32
$SM_GC,1.37,0.00,0.00,110.03,0.000,0.000,0.594,71,2306,508,-10.25,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1826
$TCM_TEMP,17.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,625.8,107.6
$24V_AH,23.6,16.470
$10V_AH,10.1,8.399
$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
$DEVICE_SECS,25.975,170.575,423.925,110.025,0.000,18.363,25.144,146.420,10.250,0.000,0.000,21.396,1778.150,15595.693,722.119,2115.357,499.906,33.354,1789.406,0.000,2061.530,0.000,38.141
$DEVICE_MAMPS,169.507,93.574,1112.917,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,719.051,668.154,589.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50671,981
$CAP_FILE_SIZE,145270,0
$CFSIZE,260165632,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,240608,214431,6127.247,-832.896,40,1.1,40,-9.0