version: 66.03
glider: 16
mission: 9
dive: 86
start: 6 25 108 18 9 3
data:
$ID,16
$MISSION,9
$DIVE,86
$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,-2094638.6
$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,18
$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
$GPS1,175708,6129.152,-825.379,40,1.1,40,-8.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.1
$GPS2,180809,6129.151,-825.030,13,1.3,13,-8.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.187
$KALMAN_X,-136187.3,331.0,-2963.5,-31199.1,7232.0
$KALMAN_Y,-80951.4,3273.3,850.4,153524.3,-19955.4
$MHEAD_RNG_PITCHd_Wd,327.8,26680,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.18,0.000,2,0.000,0.000,62,2307,2957
$GC,151,-0.85,-146.6,3.7,-3.1,6,181,11.43,2.70,-10.10,0.000,4,0.168,0.088,2107,3710,3380
$GC,333,-0.63,-146.6,32.7,-13.7,14,338,0.28,2.60,0.00,0.000,6,0.094,0.058,2160,2298,3380
$GC,654,-0.63,-146.6,61.7,-8.9,30,659,0.00,2.65,0.00,0.000,4,0.000,0.068,2162,882,3380
$GC,721,-0.63,-146.6,67.8,-8.7,33,726,0.00,2.65,0.00,0.000,6,0.000,0.057,2162,2304,3380
$GC,1043,-0.63,-146.6,98.7,-9.7,49,1048,0.00,2.67,0.00,0.000,4,0.000,0.065,2162,876,3380
$GC,1092,-0.63,-146.6,103.0,-7.8,51,1097,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2302,3380
$GC,1408,-0.63,-146.6,127.6,-7.2,66,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2302,3380
$GC,1718,-0.63,-146.6,150.0,-7.2,81,1723,0.00,2.65,0.00,0.000,4,0.000,0.066,2162,877,3380
$GC,1774,-0.63,-146.6,154.2,-7.2,83,1779,0.00,2.62,0.00,0.000,6,0.000,0.057,2161,2299,3380
$GC,2090,-0.63,-146.6,177.8,-8.0,98,2094,0.00,2.65,0.00,0.000,4,0.000,0.065,2162,881,3380
$GC,2162,-0.63,-146.6,183.8,-8.4,101,2166,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2301,3380
$GC,2478,-0.63,-146.6,209.3,-7.8,116,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3380
$GC,2787,-0.63,-146.6,234.8,-8.2,131,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2300,3379
$GC,3097,-0.63,-146.6,257.6,-7.1,146,3101,0.00,2.67,0.00,0.000,4,0.000,0.067,2162,877,3380
$GC,3152,-0.63,-146.6,261.7,-7.1,148,3158,0.00,2.62,0.00,0.000,6,0.000,0.056,2162,2298,3380
$GC,3467,-0.63,-146.6,283.5,-6.3,164,3471,0.00,2.65,0.00,0.000,4,0.000,0.067,2162,881,3380
$GC,3511,-0.63,-146.6,286.6,-7.2,166,3515,0.00,2.62,0.00,0.000,6,0.000,0.056,2162,2303,3380
$GC,3832,-0.63,-146.6,307.4,-7.1,182,3836,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,880,3380
$GC,3887,-0.63,-146.6,311.7,-7.9,184,3893,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2300,3380
$GC,4203,-0.63,-146.6,333.1,-7.0,200,4207,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,877,3380
$GC,4258,-0.63,-146.6,337.1,-7.1,202,4264,0.00,2.60,0.00,0.000,6,0.000,0.057,2162,2302,3380
$GC,4573,-0.63,-146.6,357.7,-6.5,218,4577,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,878,3380
$GC,4618,-0.68,-146.6,360.3,-6.3,220,4622,0.00,2.62,0.00,0.000,6,0.000,0.056,2162,2301,3380
$GC,4940,-0.68,-146.6,377.3,-4.8,236,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2302,3379
$GC,5249,-0.68,-146.6,392.4,-5.1,251,5253,0.00,2.67,0.00,0.000,4,0.000,0.069,2162,876,3379
$GC,5311,-0.68,-146.6,395.4,-4.9,254,5316,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2302,3379
$GC,5638,-0.68,-146.6,411.5,-5.0,270,5643,0.00,2.67,0.00,0.000,4,0.000,0.070,2162,878,3379
$GC,5679,-0.72,-146.6,413.8,-5.4,272,5684,0.00,2.62,0.00,0.000,6,0.000,0.057,2162,2302,3379
$GC,6005,-0.72,-146.6,433.5,-6.5,288,6010,0.00,2.67,0.00,0.000,4,0.000,0.070,2162,881,3379
$GC,6056,-0.77,-146.6,436.8,-6.4,290,6061,0.15,2.62,0.00,0.000,6,0.044,0.057,2115,2303,3379
$GC,6372,-0.63,-146.6,460.9,-7.1,305,6377,0.20,2.67,0.00,0.000,4,0.087,0.071,2159,883,3379
$GC,6423,-0.69,-146.6,463.8,-5.2,307,6427,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2303,3379
$GC,6739,-0.69,-146.6,478.5,-4.9,322,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2303,3378
$GC,7047,-0.69,-146.6,496.4,-6.6,337,7052,0.00,2.67,0.00,0.000,4,0.000,0.071,2159,883,3378
$GC,7088,-0.75,-146.6,498.8,-5.4,339,7093,0.00,2.62,0.00,0.000,6,0.000,0.058,2159,2307,3377
$GC,7414,-0.75,-146.6,527.2,-9.1,355,7419,0.12,2.67,0.00,0.000,4,0.048,0.066,2118,880,3378
$GC,7454,-0.70,-146.6,532.4,-14.3,357,7460,0.15,2.65,0.00,0.000,6,0.087,0.059,2149,2304,3378
$GC,7784,-0.61,-146.6,578.2,-15.9,373,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2305,3377
$GC,8091,-0.55,-146.6,616.8,-11.7,388,8093,0.15,0.00,0.00,0.000,6,0.092,0.000,2178,2305,3377
$GC,8400,-0.62,-146.6,621.1,-4.8,403,8405,0.00,2.70,0.00,0.000,4,0.000,0.073,2178,878,3377
$GC,8479,-0.77,-146.6,626.0,3.5,406,8486,0.22,2.65,0.00,0.000,6,0.046,0.061,2118,2302,3377
$GC,8796,-0.67,-146.6,624.8,2.3,422,8801,0.15,2.72,0.00,0.000,4,0.090,0.087,2151,3708,3376
$GC,8824,-0.67,-146.6,626.1,-5.0,423,8828,0.00,2.62,0.00,0.000,6,0.000,0.065,2151,2297,3376
$GC,9140,-0.67,-146.6,640.8,-2.7,438,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2297,3375
$GC,9449,-0.67,-146.6,651.1,-1.3,453,9453,0.00,2.67,0.00,0.000,4,0.000,0.076,2151,886,3374
$GC,9495,-0.72,-146.6,651.0,-0.1,455,9499,0.00,2.65,0.00,0.000,6,0.000,0.064,2151,2299,3374
$STATE,9607,end dive,NO_VERTICAL_VELOCITY
$STATE,9607,begin apogee
$GC,9614,-0.31,0.0,651.4,0.0,461,9749,0.40,0.00,129.65,1.081,6,0.094,0.000,2232,2204,2781
$STATE,9750,end apogee,CONTROL_FINISHED_OK
$STATE,9750,begin climb
$GC,9753,0.85,146.6,649.8,0.0,468,9890,1.17,2.78,129.38,1.059,4,0.077,0.071,2480,784,2183
$GC,10100,0.85,146.6,649.1,10.0,483,10105,0.00,2.67,0.00,0.000,6,0.000,0.064,2480,2199,2181
$GC,10421,0.85,146.6,622.0,10.1,499,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2200,2181
$GC,10730,0.85,146.6,596.4,7.7,514,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2200,2179
$GC,11040,0.78,146.6,576.7,8.8,529,11044,0.00,2.78,0.00,0.000,4,0.000,0.091,2480,3616,2180
$GC,11269,0.74,146.6,564.2,8.2,539,11274,0.00,2.70,0.00,0.000,6,0.000,0.069,2481,2193,2179
$GC,11585,0.74,146.6,542.4,7.3,554,11589,0.00,2.70,0.00,0.000,4,0.000,0.077,2481,781,2178
$GC,11805,0.88,322.0,534.3,1.2,564,11962,0.00,2.67,150.88,1.026,6,0.000,0.061,2480,2206,1468
$GC,12273,1.19,465.0,512.6,2.1,586,12404,0.32,2.80,124.35,0.995,4,0.064,0.089,2556,3614,885
$GC,12446,1.19,465.0,497.1,11.1,594,12450,0.00,2.70,0.00,0.000,6,0.000,0.067,2556,2203,884
$GC,12766,1.19,465.0,456.7,13.6,610,12771,0.00,2.72,0.00,0.000,4,0.000,0.074,2556,776,884
$GC,12878,1.19,465.0,439.9,16.0,615,12882,0.00,2.67,0.00,0.000,6,0.000,0.059,2556,2203,884
$GC,13199,1.19,465.0,392.3,13.6,631,13203,0.00,2.75,0.00,0.000,4,0.000,0.076,2556,779,884
$GC,13265,1.19,465.0,384.0,11.7,634,13269,0.00,2.65,0.00,0.000,6,0.000,0.056,2556,2201,883
$GC,13586,1.19,465.0,350.5,9.5,650,13590,0.00,2.72,0.00,0.000,4,0.000,0.075,2556,782,884
$GC,13630,1.19,465.0,346.1,9.4,652,13634,0.00,2.62,0.00,0.000,6,0.000,0.055,2556,2201,884
$GC,13950,1.19,465.0,314.2,10.3,668,13955,0.00,2.70,0.00,0.000,4,0.000,0.074,2556,782,884
$GC,14000,1.23,465.0,309.0,10.6,670,14005,0.00,2.62,0.00,0.000,6,0.000,0.054,2556,2202,884
$GC,14316,1.23,465.0,278.6,8.6,685,14320,0.00,2.72,0.00,0.000,4,0.000,0.072,2556,778,885
$GC,14388,1.23,465.0,272.4,8.8,688,14392,0.00,2.62,0.00,0.000,6,0.000,0.054,2556,2200,885
$GC,14703,1.23,465.0,245.4,8.8,703,14708,0.00,2.70,0.00,0.000,4,0.000,0.072,2556,781,885
$GC,14753,1.30,465.0,240.7,9.2,705,14758,0.12,2.62,0.00,0.000,6,0.072,0.054,2583,2203,886
$GC,15068,1.30,465.0,204.2,11.5,720,15070,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2203,886
$GC,15378,1.30,465.0,168.7,11.9,735,15382,0.00,2.70,0.00,0.000,4,0.000,0.071,2583,773,886
$GC,15462,1.30,465.0,159.3,10.9,739,15466,0.00,2.62,0.00,0.000,6,0.000,0.052,2583,2201,886
$GC,15791,1.25,465.0,119.3,11.9,755,15795,0.00,2.70,0.00,0.000,4,0.000,0.070,2584,775,887
$GC,15840,1.25,465.0,113.7,9.7,757,15845,0.00,2.62,0.00,0.000,6,0.000,0.052,2584,2204,887
$GC,16157,1.25,465.0,80.6,10.3,772,16162,0.00,2.70,0.00,0.000,4,0.000,0.069,2583,776,887
$GC,16201,1.25,465.0,75.8,10.0,774,16206,0.00,2.62,0.00,0.000,6,0.000,0.051,2584,2208,887
$GC,16523,1.25,465.0,40.6,11.3,790,16527,0.00,2.70,0.00,0.000,4,0.000,0.069,2584,782,888
$GC,16585,1.25,465.0,33.8,12.1,793,16590,0.00,2.60,0.00,0.000,6,0.000,0.051,2583,2206,888
$STATE,16890,end climb,SURFACE_DEPTH_REACHED
$STATE,16891,begin surface coast
$FINISH,0.6,1.005626
$STATE,16913,end surface coast,CONTROL_FINISHED_OK
$STATE,16913,begin surface
$SM_CCo,16935,44.97,0.602,0,0,508,557.32
$SM_GC,1.17,0.00,0.00,44.97,0.000,0.000,0.602,66,2307,508,-10.27,0.20,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1888
$TCM_TEMP,17.70
$XPDR_PINGS,44
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,23.6,17.285
$10V_AH,10.1,8.817
$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,25.700,176.300,534.250,44.975,0.000,38.625,54.366,331.418,16.500,0.000,0.000,13.515,1540.547,12645.242,705.485,1983.536,749.424,33.364,1745.320,0.000,1934.637,0.000,36.674
$DEVICE_MAMPS,167.973,91.273,1081.470,602.095,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.970,549.126,481.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41205,809
$CAP_FILE_SIZE,140660,0
$CFSIZE,260165632,252768256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,250608,225325,6134.490,-829.035,24,1.8,42,-9.0