version: 66.03
glider: 16
mission: 9
dive: 87
start: 6 25 108 22 59 37
data:
$ID,16
$MISSION,9
$DIVE,87
$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,-2094658.2
$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,14
$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
$GPS1,225325,6134.490,-829.035,24,1.8,42,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-49.1
$GPS2,225846,6134.567,-829.121,13,2.0,18,-9.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_4
$TGT_LATLONG,6140.000,-845.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.195
$KALMAN_X,-138844.1,-2097.3,1431.1,-34122.8,-1753.6
$KALMAN_Y,-74445.3,1522.0,3259.8,156428.1,-13554.8
$MHEAD_RNG_PITCHd_Wd,314.8,17206,-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,22,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,169,0.00,0.00,-140.80,0.000,2,0.000,0.000,66,2310,3353
$GC,172,-0.85,-146.6,5.6,-4.7,7,194,11.45,2.70,-0.45,0.000,4,0.170,0.082,2108,3715,3381
$GC,413,-0.65,-146.6,47.4,-13.4,17,421,0.25,2.62,0.00,0.000,6,0.096,0.058,2157,2291,3381
$GC,730,-0.59,-146.6,78.4,-9.6,33,734,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,877,3381
$GC,815,-0.59,-146.6,85.5,-7.8,37,819,0.00,2.62,0.00,0.000,6,0.000,0.055,2157,2300,3381
$GC,1143,-0.59,-146.6,108.8,-7.6,53,1147,0.00,2.65,0.00,0.000,4,0.000,0.065,2157,881,3381
$GC,1198,-0.59,-146.6,112.5,-6.6,55,1204,0.00,2.62,0.00,0.000,6,0.000,0.055,2157,2303,3381
$GC,1514,-0.59,-146.6,133.2,-7.5,71,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3382
$GC,1823,-0.59,-146.6,153.1,-5.8,86,1828,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,881,3382
$GC,1879,-0.59,-146.6,156.8,-6.1,88,1885,0.00,2.62,0.00,0.000,6,0.000,0.056,2157,2300,3382
$GC,2195,-0.59,-146.6,177.9,-7.7,104,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3382
$GC,2504,-0.59,-146.6,202.2,-7.9,119,2508,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,877,3382
$GC,2570,-0.59,-146.6,207.7,-8.9,122,2574,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2304,3382
$GC,2891,-0.59,-146.6,233.8,-8.7,138,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2304,3382
$GC,3200,-0.59,-146.6,261.7,-8.6,153,3204,0.00,2.67,0.00,0.000,4,0.000,0.068,2157,881,3382
$GC,3239,-0.59,-146.6,264.9,-8.0,155,3243,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2300,3382
$GC,3566,-0.59,-146.6,288.9,-7.5,171,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3382
$GC,3875,-0.59,-146.6,312.4,-7.6,186,3879,0.00,2.67,0.00,0.000,4,0.000,0.070,2157,881,3382
$GC,3919,-0.59,-146.6,316.0,-7.8,188,3923,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2299,3382
$GC,4239,-0.59,-146.6,339.3,-7.1,204,4244,0.00,2.67,0.00,0.000,4,0.000,0.070,2157,878,3381
$GC,4279,-0.59,-146.6,342.4,-7.8,206,4284,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2304,3382
$GC,4606,-0.59,-146.6,367.3,-7.7,222,4611,0.00,2.70,0.00,0.000,4,0.000,0.071,2157,874,3382
$GC,4656,-0.59,-146.6,371.4,-7.6,224,4661,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3382
$GC,4972,-0.59,-146.6,396.8,-8.6,239,4976,0.00,2.67,0.00,0.000,4,0.000,0.070,2157,877,3381
$GC,5049,-0.63,-146.6,403.4,-8.2,242,5056,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2291,3381
$GC,5365,-0.63,-146.6,429.4,-8.5,258,5369,0.00,2.72,0.00,0.000,4,0.000,0.083,2157,3713,3381
$GC,5392,-0.63,-146.6,430.7,-5.0,259,5397,0.00,2.60,0.00,0.000,6,0.000,0.057,2157,2296,3382
$GC,5708,-0.63,-146.6,454.3,-6.4,274,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2296,3381
$GC,6017,-0.63,-146.6,478.3,-5.7,289,6022,0.00,2.65,0.00,0.000,4,0.000,0.074,2157,885,3381
$GC,6130,-0.70,-146.6,482.0,-5.1,294,6135,0.00,2.62,0.00,0.000,6,0.000,0.060,2158,2298,3380
$GC,6450,-0.70,-146.6,505.5,-8.5,310,6455,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,886,3380
$GC,6523,-0.78,-146.6,511.4,-7.7,313,6528,0.12,2.65,0.00,0.000,6,0.050,0.061,2118,2303,3380
$GC,6839,-0.66,-146.6,541.6,-10.1,328,6841,0.17,0.00,0.00,0.000,6,0.091,0.000,2152,2303,3379
$GC,7148,-0.66,-146.6,563.1,-6.4,343,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2303,3378
$GC,7457,-0.66,-146.6,591.7,-9.8,358,7461,0.00,2.72,0.00,0.000,4,0.000,0.076,2152,880,3377
$GC,7501,-0.73,-146.6,596.1,-10.5,360,7506,0.00,2.67,0.00,0.000,6,0.000,0.065,2152,2301,3377
$GC,7823,-0.73,-146.6,620.3,-8.7,376,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3376
$GC,8132,-0.73,-146.6,645.5,-6.5,391,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3375
$GC,8441,-0.73,-146.6,663.3,-4.4,406,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3374
$GC,8751,-0.73,-146.6,686.0,-5.1,421,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3373
$GC,9060,-0.73,-146.6,711.8,-9.7,436,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3371
$GC,9369,-0.73,-146.6,738.9,-8.3,451,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2302,3370
$GC,9678,-0.73,-146.6,773.8,-13.5,466,9682,0.00,2.70,0.00,0.000,4,0.000,0.080,2152,888,3369
$GC,9734,-0.79,-146.6,779.8,-8.9,468,9740,0.12,2.67,0.00,0.000,6,0.059,0.069,2118,2301,3369
$GC,10050,-0.70,-146.6,801.8,-9.0,484,10051,0.15,0.00,0.00,0.000,6,0.100,0.000,2146,2301,3368
$GC,10358,-0.70,-146.6,827.8,-6.9,499,10363,0.00,2.70,0.00,0.000,4,0.000,0.079,2146,887,3367
$GC,10437,-0.70,-146.6,832.8,-5.3,502,10443,0.00,2.67,0.00,0.000,6,0.000,0.070,2146,2303,3366
$STATE,10626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10626,begin apogee
$GC,10633,-0.31,0.0,846.3,9.0,512,10769,0.43,0.00,132.62,1.239,6,0.109,0.000,2228,2194,2781
$STATE,10770,end apogee,CONTROL_FINISHED_OK
$STATE,10770,begin climb
$GC,10773,0.85,146.6,856.2,0.0,519,10916,1.23,2.90,134.32,1.224,4,0.089,0.094,2480,3616,2184
$GC,10994,1.03,312.6,854.2,1.5,529,11154,0.20,2.70,149.85,1.214,6,0.065,0.067,2524,2196,1505
$GC,11481,1.03,312.6,822.1,6.2,553,11486,0.00,2.72,0.00,0.000,4,0.000,0.080,2524,788,1504
$GC,11537,1.03,312.6,816.7,9.7,555,11543,0.00,2.67,0.00,0.000,6,0.000,0.065,2524,2200,1504
$GC,11853,1.03,312.6,782.0,11.9,571,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,1504
$GC,12162,1.03,312.6,754.3,8.3,586,12167,0.00,2.78,0.00,0.000,4,0.000,0.096,2524,3613,1503
$GC,12206,1.03,312.6,750.3,9.1,588,12211,0.00,2.70,0.00,0.000,6,0.000,0.071,2523,2193,1503
$GC,12527,1.03,312.6,725.1,7.6,604,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2193,1503
$GC,12836,1.03,312.6,702.0,6.7,619,12837,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2193,1502
$GC,13145,1.03,312.6,680.9,6.0,634,13150,0.00,2.83,0.00,0.000,4,0.000,0.094,2524,3618,1502
$GC,13195,1.06,346.4,678.2,5.1,636,13231,0.00,2.70,30.15,1.128,6,0.000,0.071,2524,2196,1368
$GC,13554,1.08,360.0,662.3,5.6,654,13572,0.00,0.00,13.50,1.054,6,0.000,0.000,2523,2196,1313
$GC,13881,1.08,360.0,638.1,6.4,670,13886,0.00,2.72,0.00,0.000,4,0.000,0.083,2524,789,1312
$GC,13916,1.10,376.3,636.0,5.6,671,13937,0.00,2.67,15.75,1.058,6,0.000,0.064,2524,2204,1247
$GC,14247,1.10,376.3,605.8,9.7,687,14252,0.00,2.75,0.00,0.000,4,0.000,0.080,2524,788,1247
$GC,14320,1.23,458.5,601.1,3.7,690,14401,0.22,2.67,73.38,1.105,6,0.085,0.064,2567,2204,911
$GC,14723,1.16,458.5,560.7,15.0,710,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2204,910
$GC,15032,1.16,458.5,514.5,12.4,725,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2204,911
$GC,15341,1.26,549.7,498.1,3.5,740,15429,0.00,2.83,80.55,1.028,4,0.000,0.077,2568,787,540
$GC,15465,1.31,549.7,490.5,7.3,746,15469,0.00,2.67,0.00,0.000,6,0.000,0.059,2568,2201,540
$GC,15791,1.31,549.7,458.9,10.7,762,15796,0.00,2.72,0.00,0.000,4,0.000,0.077,2568,786,540
$GC,15886,1.31,549.7,448.8,10.6,766,15890,0.00,2.65,0.00,0.000,6,0.000,0.056,2568,2203,540
$GC,16202,1.31,549.7,410.5,12.7,781,16206,0.00,2.72,0.00,0.000,4,0.000,0.077,2568,786,541
$GC,16296,1.31,549.7,398.6,11.6,785,16301,0.00,2.62,0.00,0.000,6,0.000,0.055,2568,2201,541
$GC,16612,1.31,549.7,362.0,11.0,800,16616,0.00,2.70,0.00,0.000,4,0.000,0.074,2568,785,542
$GC,16689,1.31,549.7,353.3,9.8,803,16695,0.00,2.62,0.00,0.000,6,0.000,0.054,2568,2203,542
$GC,17005,1.31,549.7,318.0,10.6,819,17009,0.00,2.72,0.00,0.000,4,0.000,0.074,2568,783,542
$GC,17089,1.31,549.7,309.5,10.1,823,17093,0.00,2.62,0.00,0.000,6,0.000,0.054,2568,2201,542
$GC,17415,1.31,549.7,272.8,10.8,839,17420,0.00,2.70,0.00,0.000,4,0.000,0.072,2568,785,543
$GC,17500,1.31,549.7,263.6,10.1,843,17504,0.00,2.62,0.00,0.000,6,0.000,0.054,2568,2201,542
$GC,17826,1.31,549.7,230.5,10.2,859,17830,0.00,2.70,0.00,0.000,4,0.000,0.072,2568,786,543
$GC,17905,1.31,549.7,221.9,10.0,862,17911,0.00,2.62,0.00,0.000,6,0.000,0.054,2568,2204,544
$GC,18220,1.31,549.7,181.6,14.6,878,18225,0.00,2.70,0.00,0.000,4,0.000,0.072,2568,786,544
$GC,18299,1.31,549.7,171.0,12.1,881,18305,0.00,2.60,0.00,0.000,6,0.000,0.053,2568,2201,544
$GC,18615,1.31,549.7,123.1,14.9,897,18619,0.00,2.70,0.00,0.000,4,0.000,0.071,2568,779,545
$GC,18703,1.31,549.7,109.4,15.4,901,18708,0.00,2.62,0.00,0.000,6,0.000,0.052,2568,2205,544
$GC,19027,1.31,549.7,66.2,12.7,917,19031,0.00,2.70,0.00,0.000,4,0.000,0.070,2568,782,545
$GC,19090,1.31,549.7,59.3,11.5,920,19095,0.00,2.60,0.00,0.000,6,0.000,0.052,2568,2203,545
$GC,19418,1.31,549.7,21.0,12.7,936,19425,0.00,2.67,0.00,0.000,4,0.000,0.068,2568,779,545
$GC,19481,1.31,549.7,14.8,9.9,938,19488,0.00,2.60,0.00,0.000,6,0.000,0.052,2568,2204,545
$STATE,19610,end climb,SURFACE_DEPTH_REACHED
$STATE,19611,begin surface coast
$FINISH,0.5,1.027249
$STATE,19631,end surface coast,CONTROL_FINISHED_OK
$STATE,19631,begin surface
$SM_CCo,19653,4.78,0.466,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,4.78,0.000,0.000,0.466,67,2311,509,-10.27,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1881
$TCM_TEMP,17.60
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,800.2,55.2
$24V_AH,23.5,17.509
$10V_AH,10.1,8.907
$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,25.175,177.050,630.125,4.775,0.000,18.354,29.517,147.733,20.250,0.000,0.000,18.950,1724.671,14787.021,805.480,2154.999,507.219,33.362,1917.494,0.000,2099.522,0.000,49.372
$DEVICE_MAMPS,169.507,95.875,1239.472,466.336,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.667,642.598,520.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50542,946
$CAP_FILE_SIZE,143020,0
$CFSIZE,260165632,252690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,260608,042837,6136.758,-842.537,37,2.0,42,-9.1