version: 66.03
glider: 16
mission: 9
dive: 85
start: 6 25 108 12 38 2
data:
$ID,16
$MISSION,9
$DIVE,85
$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,-2094624.5
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,122857,6124.788,-823.478,50,2.2,69,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.2
$GPS2,123711,6124.832,-823.317,16,2.2,35,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,0.220
$KALMAN_X,-143364.9,1948.0,1745.3,-28774.4,-12302.1
$KALMAN_Y,-85587.2,2770.4,699.8,150920.9,-33642.2
$MHEAD_RNG_PITCHd_Wd,334.7,33947,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.93,0.000,2,0.000,0.000,70,2315,2988
$GC,150,-0.85,-146.6,3.9,-3.4,6,177,11.38,2.65,-9.12,0.000,4,0.173,0.084,2108,3709,3378
$GC,419,-0.64,-146.6,37.6,-10.2,18,424,0.25,2.60,0.00,0.000,6,0.093,0.054,2157,2294,3379
$GC,741,-0.60,-146.6,59.4,-7.6,34,745,0.00,2.62,0.00,0.000,4,0.000,0.065,2157,880,3379
$GC,841,-0.60,-146.6,68.4,-9.5,38,847,0.00,2.62,0.00,0.000,6,0.000,0.055,2155,2302,3379
$GC,1158,-0.60,-146.6,96.3,-8.5,54,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3379
$GC,1466,-0.60,-146.6,122.1,-8.3,69,1470,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,880,3379
$GC,1515,-0.60,-146.6,126.2,-8.0,71,1520,0.00,2.58,0.00,0.000,6,0.000,0.055,2157,2302,3379
$GC,1832,-0.60,-146.6,152.2,-8.4,86,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3379
$GC,2141,-0.60,-146.6,177.5,-8.1,101,2145,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,880,3379
$GC,2229,-0.60,-146.6,184.8,-8.0,105,2234,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2303,3379
$GC,2551,-0.60,-146.6,211.0,-8.1,121,2556,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,881,3379
$GC,2614,-0.60,-146.6,216.3,-8.0,124,2618,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2301,3379
$GC,2940,-0.60,-146.6,244.4,-9.1,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3379
$GC,3249,-0.60,-146.6,272.2,-9.1,155,3254,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,880,3379
$GC,3316,-0.60,-146.6,278.7,-9.8,158,3320,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2300,3379
$GC,3637,-0.60,-146.6,308.1,-8.8,174,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3377
$GC,3946,-0.60,-146.6,335.1,-8.7,189,3950,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,881,3378
$GC,4053,-0.60,-146.6,344.3,-8.7,194,4057,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2305,3378
$GC,4379,-0.60,-146.6,371.3,-8.2,210,4384,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,880,3378
$GC,4434,-0.60,-146.6,375.9,-8.4,212,4440,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2306,3378
$GC,4751,-0.60,-146.6,401.0,-8.0,228,4755,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,874,3378
$GC,4790,-0.60,-146.6,404.2,-8.2,230,4794,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2302,3378
$GC,5117,-0.60,-146.6,428.8,-7.0,246,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2301,3378
$GC,5427,-0.60,-146.6,451.3,-7.8,261,5431,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,881,3378
$GC,5489,-0.60,-146.6,456.8,-8.7,264,5493,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2307,3378
$GC,5815,-0.60,-146.6,486.7,-9.0,280,5819,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,874,3377
$GC,5887,-0.60,-146.6,493.0,-8.9,283,5891,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2303,3377
$GC,6202,-0.60,-146.6,516.7,-7.8,298,6207,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,879,3378
$GC,6280,-0.60,-146.6,523.0,-8.1,301,6286,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2304,3377
$GC,6596,-0.60,-146.6,547.4,-7.9,317,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3377
$GC,6905,-0.60,-146.6,574.2,-9.1,332,6910,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,873,3377
$GC,6978,-0.65,-146.6,580.8,-9.2,335,6983,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2306,3377
$GC,7294,-0.65,-146.6,605.6,-7.7,350,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2306,3377
$GC,7603,-0.65,-146.6,620.1,-1.8,365,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2306,3376
$GC,7913,-0.60,-146.6,626.5,-2.7,380,7917,0.00,2.62,0.00,0.000,4,0.000,0.063,2157,880,3376
$GC,8002,-0.70,-146.6,638.5,-10.5,384,8007,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2298,3376
$GC,8323,-0.70,-146.6,667.8,-8.5,400,8327,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,880,3376
$GC,8363,-0.79,-146.6,671.3,-9.1,402,8368,0.15,2.62,0.00,0.000,6,0.044,0.058,2110,2302,3376
$GC,8692,-0.62,-146.6,708.4,-10.2,418,8697,0.22,2.70,0.00,0.000,4,0.091,0.082,2159,3709,3376
$GC,8719,-0.62,-146.6,712.9,-15.7,419,8724,0.00,2.60,0.00,0.000,6,0.000,0.061,2159,2294,3376
$GC,9036,-0.71,-146.6,737.3,-9.7,434,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2293,3376
$GC,9345,-0.79,-146.6,747.8,-5.0,449,9347,0.15,0.00,0.00,0.000,6,0.048,0.000,2115,2293,3375
$GC,9654,-0.67,-146.6,773.4,-6.5,464,9659,0.15,2.67,0.00,0.000,4,0.095,0.078,2147,890,3374
$GC,9710,-0.75,-146.6,775.8,-3.1,466,9717,0.00,2.65,0.00,0.000,6,0.000,0.071,2149,2295,3374
$GC,10026,-0.75,-146.6,798.2,-13.3,482,10030,0.00,2.67,0.00,0.000,4,0.000,0.077,2149,892,3373
$GC,10083,-0.81,-146.6,804.8,-10.3,484,10090,0.12,2.67,0.00,0.000,6,0.053,0.068,2113,2308,3372
$GC,10399,-0.65,-146.6,838.7,-11.6,500,10404,0.20,2.72,0.00,0.000,4,0.102,0.079,2154,893,3370
$GC,10461,-0.73,-146.6,844.3,-12.4,503,10466,0.00,2.65,0.00,0.000,6,0.000,0.074,2154,2300,3370
$STATE,10744,end dive,NO_VERTICAL_VELOCITY
$STATE,10744,begin apogee
$GC,10752,-0.31,0.0,851.7,0.0,517,10888,0.38,0.00,132.55,1.227,6,0.091,0.000,2231,2205,2781
$STATE,10888,end apogee,CONTROL_FINISHED_OK
$STATE,10888,begin climb
$GC,10891,0.85,146.6,852.0,0.0,524,11035,1.20,2.83,133.00,1.199,4,0.089,0.075,2477,784,2183
$GC,11161,0.77,240.8,846.6,3.4,536,11254,0.00,2.70,85.82,1.186,6,0.000,0.064,2478,2204,1799
$GC,11564,0.65,280.4,821.7,4.9,556,11605,0.15,0.00,36.85,1.164,6,0.096,0.000,2444,2204,1637
$GC,11915,0.98,434.8,814.6,1.8,573,12061,0.28,2.85,139.05,1.197,4,0.060,0.092,2511,3611,1008
$GC,12084,1.15,434.8,801.6,10.9,581,12089,0.17,2.75,0.00,0.000,6,0.054,0.071,2555,2192,1007
$GC,12400,1.08,434.8,761.6,10.0,596,12405,0.10,2.72,0.00,0.000,4,0.104,0.084,2536,789,1007
$GC,12450,1.08,434.8,754.2,13.7,598,12454,0.00,2.67,0.00,0.000,6,0.000,0.064,2536,2201,1007
$GC,12765,1.08,434.8,701.7,15.0,613,12770,0.00,2.75,0.00,0.000,4,0.000,0.081,2536,787,1007
$GC,12815,1.08,434.8,695.8,10.5,615,12820,0.00,2.67,0.00,0.000,6,0.000,0.064,2536,2201,1006
$GC,13131,1.08,434.8,653.3,13.0,630,13135,0.00,2.75,0.00,0.000,4,0.000,0.090,2536,3613,1006
$GC,13215,1.08,434.8,642.3,13.4,634,13220,0.00,2.67,0.00,0.000,6,0.000,0.070,2536,2200,1006
$GC,13542,1.08,434.8,605.1,11.3,650,13547,0.00,2.72,0.00,0.000,4,0.000,0.081,2536,783,1005
$GC,13615,1.08,434.8,596.7,12.3,653,13619,0.00,2.65,0.00,0.000,6,0.000,0.059,2536,2201,1005
$GC,13930,1.08,434.8,561.5,11.0,668,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2201,1005
$GC,14240,1.08,434.8,524.9,12.4,683,14244,0.00,2.70,0.00,0.000,4,0.000,0.074,2536,784,1005
$GC,14324,1.08,434.8,515.0,11.7,687,14329,0.00,2.62,0.00,0.000,6,0.000,0.057,2536,2203,1005
$GC,14650,1.08,434.8,478.2,11.2,703,14655,0.00,2.70,0.00,0.000,4,0.000,0.073,2536,778,1006
$GC,14690,1.08,434.8,473.7,10.8,705,14694,0.00,2.65,0.00,0.000,6,0.000,0.055,2536,2206,1006
$GC,15017,1.08,434.8,436.0,11.7,721,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2207,1007
$GC,15326,1.08,434.8,400.9,10.7,736,15330,0.00,2.72,0.00,0.000,4,0.000,0.072,2536,782,1007
$GC,15394,1.08,434.8,393.2,10.4,739,15398,0.00,2.62,0.00,0.000,6,0.000,0.054,2536,2202,1008
$GC,15714,1.08,434.8,357.7,10.6,755,15715,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2203,1008
$GC,16023,1.08,434.8,324.2,11.0,770,16028,0.00,2.70,0.00,0.000,4,0.000,0.071,2536,783,1009
$GC,16112,1.08,434.8,314.2,10.9,774,16117,0.00,2.62,0.00,0.000,6,0.000,0.054,2536,2206,1009
$GC,16433,1.08,434.8,278.5,11.1,790,16438,0.00,2.67,0.00,0.000,4,0.000,0.071,2536,783,1010
$GC,16477,1.08,434.8,273.3,11.8,792,16482,0.00,2.62,0.00,0.000,6,0.000,0.054,2536,2207,1010
$GC,16799,1.08,434.8,235.8,11.9,808,16803,0.00,2.70,0.00,0.000,4,0.000,0.071,2537,778,1010
$GC,16838,1.08,434.8,231.1,12.4,810,16842,0.00,2.62,0.00,0.000,6,0.000,0.054,2536,2206,1010
$GC,17164,1.08,434.8,190.4,12.7,826,17165,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2206,1011
$GC,17474,1.08,434.8,152.6,12.1,841,17478,0.00,2.70,0.00,0.000,4,0.000,0.069,2536,776,1012
$GC,17546,1.08,434.8,144.1,11.1,844,17550,0.00,2.62,0.00,0.000,6,0.000,0.053,2536,2204,1012
$GC,17862,1.08,434.8,110.8,10.6,859,17866,0.00,2.70,0.00,0.000,4,0.000,0.068,2536,773,1012
$GC,17906,1.08,434.8,105.8,10.4,861,17910,0.00,2.62,0.00,0.000,6,0.000,0.052,2536,2207,1012
$GC,18227,1.08,434.8,71.7,10.3,877,18231,0.00,2.67,0.00,0.000,4,0.000,0.066,2537,782,1013
$GC,18276,1.08,434.8,66.4,9.1,879,18281,0.00,2.60,0.00,0.000,6,0.000,0.052,2536,2202,1012
$GC,18592,1.08,434.8,37.2,9.9,894,18597,0.00,2.67,0.00,0.000,4,0.000,0.067,2536,782,1013
$GC,18648,1.12,434.8,31.4,11.2,896,18655,0.00,2.58,0.00,0.000,6,0.000,0.053,2536,2199,1013
$STATE,18963,end climb,SURFACE_DEPTH_REACHED
$STATE,18963,begin surface coast
$FINISH,0.7,1.027161
$STATE,18983,end surface coast,CONTROL_FINISHED_OK
$STATE,18986,begin surface
$SM_CCo,19007,59.12,0.599,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,59.12,0.000,0.000,0.599,63,2306,508,-10.29,0.11,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,17.80
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.7,19.1
$24V_AH,23.5,17.093
$10V_AH,10.1,8.731
$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,25.500,186.675,527.275,59.125,0.000,36.117,52.991,197.003,21.000,0.000,0.000,36.643,1695.127,14369.857,764.330,2140.701,593.810,33.373,1842.213,0.000,2061.191,0.000,55.284
$DEVICE_MAMPS,172.575,92.040,1227.200,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.356,621.048,529.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47414,913
$CAP_FILE_SIZE,145100,1
$CFSIZE,260165632,252825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,250608,175708,6129.152,-825.379,40,1.1,40,-8.9