version: 66.03
glider: 16
mission: 9
dive: 83
start: 6 25 108 3 10 59
data:
$ID,16
$MISSION,9
$DIVE,83
$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,-2094555.5
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,030428,6125.967,-830.529,36,2.8,55,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.7
$GPS2,031008,6125.908,-830.470,16,1.9,33,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.109,0.193
$KALMAN_X,-156137.8,658.4,6570.7,-26058.7,-32654.4
$KALMAN_Y,-65038.9,-3097.6,300.3,138739.2,-8763.0
$MHEAD_RNG_PITCHd_Wd,342.8,29055,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-120.72,0.000,2,0.000,0.000,72,2309,2995
$GC,152,-0.85,-146.6,3.9,-3.3,6,179,11.40,2.70,-8.90,0.000,4,0.170,0.089,2109,3715,3379
$GC,387,-0.67,-146.6,33.0,-10.0,16,394,0.22,2.60,0.00,0.000,6,0.094,0.084,2153,2292,3379
$GC,705,-0.62,-146.6,59.9,-9.4,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2292,3379
$GC,1012,-0.62,-146.6,90.0,-8.4,47,1017,0.00,2.62,0.00,0.000,4,0.000,0.067,2153,881,3380
$GC,1107,-0.62,-146.6,96.9,-6.5,51,1112,0.00,2.62,0.00,0.000,6,0.000,0.058,2153,2298,3379
$GC,1425,-0.57,-146.6,118.7,-7.5,66,1430,0.10,2.65,0.00,0.000,4,0.103,0.064,2172,878,3379
$GC,1470,-0.63,-146.6,122.2,-7.3,68,1474,0.00,2.62,0.00,0.000,6,0.000,0.058,2172,2300,3380
$GC,1791,-0.63,-146.6,145.6,-7.9,84,1795,0.00,2.65,0.00,0.000,4,0.000,0.065,2171,881,3380
$GC,1831,-0.69,-146.6,148.4,-7.0,86,1835,0.00,2.65,0.00,0.000,6,0.000,0.058,2172,2305,3379
$GC,2157,-0.69,-146.6,169.8,-6.5,102,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2305,3379
$GC,2466,-0.69,-146.6,189.7,-6.4,117,2471,0.10,2.65,0.00,0.000,4,0.049,0.065,2135,883,3379
$GC,2522,-0.63,-146.6,194.0,-8.1,119,2529,0.12,2.62,0.00,0.000,6,0.096,0.059,2158,2300,3379
$GC,2838,-0.63,-146.6,214.2,-6.2,135,2842,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,883,3379
$GC,2887,-0.63,-146.6,217.6,-7.1,137,2892,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2299,3379
$GC,3203,-0.63,-146.6,238.3,-6.7,152,3207,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,881,3379
$GC,3242,-0.63,-146.6,241.1,-7.4,154,3247,0.00,2.65,0.00,0.000,6,0.000,0.059,2158,2305,3379
$GC,3569,-0.63,-146.6,265.0,-7.6,170,3573,0.00,2.65,0.00,0.000,4,0.000,0.068,2158,883,3379
$GC,3619,-0.63,-146.6,268.9,-7.9,172,3623,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2299,3379
$GC,3934,-0.63,-146.6,292.6,-7.8,187,3938,0.00,2.67,0.00,0.000,4,0.000,0.068,2158,877,3379
$GC,3979,-0.63,-146.6,296.0,-7.6,189,3984,0.00,2.65,0.00,0.000,6,0.000,0.059,2158,2306,3379
$GC,4300,-0.63,-146.6,319.4,-7.5,205,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2306,3379
$GC,4609,-0.63,-146.6,341.4,-6.7,220,4614,0.00,2.67,0.00,0.000,4,0.000,0.070,2158,884,3379
$GC,4694,-0.63,-146.6,347.4,-7.3,224,4698,0.00,2.65,0.00,0.000,6,0.000,0.060,2158,2308,3379
$GC,5020,-0.63,-146.6,369.4,-6.5,240,5024,0.00,2.67,0.00,0.000,4,0.000,0.069,2159,878,3379
$GC,5064,-0.63,-146.6,372.5,-7.1,242,5068,0.00,2.62,0.00,0.000,6,0.000,0.059,2158,2302,3379
$GC,5385,-0.63,-146.6,392.4,-6.1,258,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2302,3379
$GC,5694,-0.63,-146.6,410.5,-6.0,273,5698,0.00,2.67,0.00,0.000,4,0.000,0.069,2158,877,3378
$GC,5778,-0.63,-146.6,415.9,-6.4,277,5782,0.00,2.65,0.00,0.000,6,0.000,0.060,2158,2304,3378
$GC,6104,-0.63,-146.6,437.3,-6.8,293,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3378
$GC,6413,-0.63,-146.6,459.7,-7.4,308,6418,0.00,2.67,0.00,0.000,4,0.000,0.069,2158,879,3378
$GC,6463,-0.63,-146.6,463.5,-7.7,310,6468,0.00,2.60,0.00,0.000,6,0.000,0.059,2158,2297,3378
$GC,6779,-0.63,-146.6,487.1,-7.8,325,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2299,3378
$GC,7088,-0.63,-146.6,511.4,-7.9,340,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2299,3378
$GC,7397,-0.63,-146.6,535.5,-8.3,355,7402,0.00,2.65,0.00,0.000,4,0.000,0.067,2158,877,3378
$GC,7442,-0.68,-146.6,539.1,-8.0,357,7447,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2303,3378
$GC,7763,-0.68,-146.6,562.7,-8.6,373,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2303,3378
$STATE,8029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8029,begin apogee
$GC,8037,-0.31,0.0,581.6,6.0,386,8172,0.35,0.00,129.15,0.986,6,0.087,0.000,2231,2189,2781
$STATE,8172,end apogee,CONTROL_FINISHED_OK
$STATE,8173,begin climb
$GC,8175,0.85,146.6,585.7,0.0,393,8313,1.17,2.83,128.48,0.966,4,0.066,0.080,2483,3616,2182
$GC,8330,0.85,146.6,580.0,8.0,400,8336,0.00,2.65,0.00,0.000,6,0.000,0.058,2483,2200,2182
$GC,8646,0.85,146.6,556.3,6.8,416,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2200,2181
$GC,8955,0.92,210.3,535.3,4.3,431,9017,0.00,2.80,55.50,0.933,4,0.000,0.080,2483,3616,1923
$GC,9082,0.99,231.9,528.3,5.4,436,9109,0.15,2.65,19.98,0.891,6,0.050,0.059,2530,2197,1836
$GC,9420,0.94,231.9,506.7,6.3,453,9425,0.12,2.72,0.00,0.000,4,0.087,0.081,2503,3612,1836
$GC,9475,0.94,231.9,503.0,6.5,455,9482,0.00,2.62,0.00,0.000,6,0.000,0.059,2503,2199,1835
$GC,9791,0.94,231.9,483.8,6.5,471,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2199,1836
$GC,10100,0.94,231.9,461.6,7.5,486,10105,0.00,2.72,0.00,0.000,4,0.000,0.082,2503,3615,1835
$GC,10162,0.94,231.9,456.7,8.2,489,10167,0.00,2.65,0.00,0.000,6,0.000,0.061,2503,2194,1835
$GC,10489,0.94,231.9,432.0,7.2,505,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2194,1835
$GC,10798,0.94,231.9,411.8,6.4,520,10802,0.00,2.72,0.00,0.000,4,0.000,0.083,2503,3613,1836
$GC,10875,0.94,231.9,406.1,7.0,523,10881,0.00,2.62,0.00,0.000,6,0.000,0.060,2503,2196,1836
$GC,11191,0.95,235.8,387.1,5.9,539,11201,0.00,2.65,5.38,0.657,4,0.000,0.067,2503,784,1819
$GC,11231,0.96,246.2,384.8,5.7,541,11246,0.00,2.62,10.15,0.769,6,0.000,0.054,2503,2200,1777
$GC,11557,0.96,246.2,362.3,6.5,556,11562,0.00,2.70,0.00,0.000,4,0.000,0.083,2503,3616,1776
$GC,11613,0.96,246.2,358.3,6.7,558,11619,0.00,2.62,0.00,0.000,6,0.000,0.061,2503,2202,1776
$GC,11928,0.96,246.2,337.6,6.6,574,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2202,1776
$GC,12238,0.96,246.2,316.8,6.6,589,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2202,1776
$GC,12547,0.97,256.0,297.9,5.7,604,12562,0.00,2.72,9.95,0.721,4,0.000,0.081,2503,3614,1736
$GC,12631,0.97,256.0,292.8,6.4,607,12635,0.00,2.65,0.00,0.000,6,0.000,0.061,2503,2196,1736
$GC,12957,0.98,271.5,274.0,5.6,623,12976,0.00,0.00,14.38,0.746,6,0.000,0.000,2503,2196,1673
$GC,13286,0.99,276.5,254.9,5.9,639,13294,0.00,0.00,5.93,0.613,6,0.000,0.000,2503,2196,1653
$GC,13596,1.00,284.5,236.8,5.8,654,13610,0.00,2.75,8.15,0.657,4,0.000,0.079,2503,3606,1621
$GC,13645,1.00,284.5,233.8,6.5,656,13649,0.00,2.62,0.00,0.000,6,0.000,0.060,2503,2197,1621
$GC,13965,1.00,284.5,212.8,7.2,672,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2197,1621
$GC,14274,1.00,284.5,189.5,7.6,687,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2197,1621
$GC,14584,1.00,284.5,167.6,6.7,702,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2197,1621
$GC,14893,1.00,284.5,145.7,7.4,717,14898,0.00,2.72,0.00,0.000,4,0.000,0.079,2503,3623,1621
$GC,14934,1.00,284.5,142.5,8.6,719,14938,0.00,2.62,0.00,0.000,6,0.000,0.060,2503,2199,1621
$GC,15260,1.00,284.5,116.0,8.4,735,15265,0.00,2.65,0.00,0.000,4,0.000,0.067,2503,773,1621
$GC,15301,1.00,284.5,112.2,10.2,737,15305,0.00,2.60,0.00,0.000,6,0.000,0.054,2503,2202,1621
$GC,15627,1.00,284.5,82.3,9.3,753,15628,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2202,1621
$GC,15937,1.00,284.5,56.7,7.7,768,15941,0.00,2.67,0.00,0.000,4,0.000,0.080,2503,3613,1621
$GC,15981,1.00,284.5,53.0,8.6,770,15985,0.00,2.60,0.00,0.000,6,0.000,0.059,2503,2199,1622
$GC,16302,1.00,284.5,29.5,7.0,786,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2199,1621
$GC,16611,1.00,284.5,7.9,7.3,801,16613,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2199,1621
$STATE,16691,end climb,SURFACE_DEPTH_REACHED
$STATE,16691,begin surface coast
$FINISH,0.6,1.027168
$STATE,16714,end surface coast,CONTROL_FINISHED_OK
$STATE,16714,begin surface
$SM_CCo,16735,130.85,0.601,0,0,509,557.32
$SM_GC,1.16,0.00,0.00,130.85,0.000,0.000,0.601,69,2308,509,-10.26,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1839
$TCM_TEMP,17.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,18.6
$ALTIM_BOTTOM_PING,525.5,65.9
$24V_AH,23.7,16.750
$10V_AH,10.2,8.564
$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,24.125,138.700,387.025,130.850,0.000,18.034,27.797,153.386,5.750,0.000,0.000,33.821,1468.493,12806.074,705.250,1760.048,466.925,33.350,1577.523,0.000,1702.851,0.000,34.473
$DEVICE_MAMPS,169.507,88.972,985.595,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.897,556.559,523.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41194,806
$CAP_FILE_SIZE,119138,0
$CFSIZE,260165632,252977152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,250608,075325,6124.271,-827.359,40,1.5,40,-8.9