version: 66.04
glider: 16
mission: 13
dive: 29
start: 6 10 109 5 22 40
data:
$ID,16
$MISSION,13
$DIVE,29
$D_SURF,3
$D_FLARE,4
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$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,250
$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,-2108116.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$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,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$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,0
$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
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,051606,6141.442,-854.511,43,1.1,43,-9.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.9
$GPS2,052149,6141.470,-854.585,9,1.1,14,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.033,-0.237
$KALMAN_X,-63018.3,2274.8,927.2,26216.5,-14978.9
$KALMAN_Y,112370.4,-3090.2,-828.3,-77071.7,19111.5
$MHEAD_RNG_PITCHd_Wd,138.3,33686,-13.9,-7.500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.20,0.000,2,0.000,0.000,67,2605,3206
$GC,82,-1.03,-146.6,4.5,-7.3,3,105,12.07,2.53,-3.72,0.000,4,0.189,0.054,2129,1188,3415
$GC,267,-1.03,-146.6,30.6,-9.9,11,272,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,2600,3416
$GC,589,-1.03,-146.6,65.0,-10.0,27,593,0.00,2.35,0.00,0.000,4,0.000,0.070,2129,3861,3415
$GC,622,-1.03,-146.6,68.8,-10.9,28,628,0.00,2.17,0.00,0.000,6,0.000,0.029,2129,2575,3416
$GC,939,-1.03,-146.6,107.1,-12.9,44,943,0.00,2.40,0.00,0.000,4,0.000,0.067,2129,3863,3416
$GC,966,-1.03,-146.6,111.2,-13.9,45,970,0.00,2.15,0.00,0.000,6,0.000,0.028,2129,2599,3416
$GC,1288,-1.03,-146.6,153.3,-11.9,61,1292,0.00,2.45,0.00,0.000,4,0.000,0.043,2129,1211,3417
$GC,1332,-1.09,-146.6,158.6,-11.4,63,1337,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2601,3417
$GC,1653,-1.09,-146.6,196.7,-12.1,79,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,1963,-1.09,-146.6,239.1,-14.0,94,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,2272,-1.09,-146.6,281.4,-12.5,109,2276,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1211,3418
$GC,2294,-1.13,-146.6,284.1,-11.6,110,2298,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2608,3418
$GC,2615,-1.13,-146.6,322.3,-11.1,126,2619,0.00,2.35,0.00,0.000,4,0.000,0.071,2129,3864,3417
$GC,2643,-1.13,-146.6,325.6,-11.7,127,2647,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2599,3417
$GC,2964,-1.13,-146.6,358.3,-9.4,143,2968,0.00,2.45,0.00,0.000,4,0.000,0.044,2129,1208,3418
$GC,3014,-1.19,-146.6,362.6,-8.3,145,3019,0.15,2.45,0.00,0.000,6,0.043,0.040,2083,2599,3417
$GC,3330,-1.08,-146.6,398.1,-11.1,160,3332,0.20,0.00,0.00,0.000,6,0.095,0.000,2122,2599,3417
$GC,3640,-1.08,-146.6,425.4,-8.6,175,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2599,3417
$GC,3948,-1.08,-146.6,452.4,-8.7,190,3952,0.00,2.47,0.00,0.000,4,0.000,0.042,2122,1201,3417
$GC,4026,-1.13,-146.6,459.0,-8.5,193,4032,0.00,2.47,0.00,0.000,6,0.000,0.039,2122,2604,3417
$GC,4341,-1.13,-146.6,490.0,-10.3,209,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2603,3417
$GC,4650,-1.13,-146.6,519.5,-9.6,224,4654,0.00,2.35,0.00,0.000,4,0.000,0.074,2122,3858,3416
$GC,4713,-1.13,-146.6,525.5,-9.9,227,4717,0.00,2.12,0.00,0.000,6,0.000,0.031,2122,2601,3416
$GC,5046,-1.13,-146.6,550.6,-7.1,243,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2597,3416
$GC,5354,-1.13,-146.6,574.4,-8.2,258,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2597,3415
$GC,5664,-1.13,-146.6,600.6,-8.6,273,5668,0.00,2.38,0.00,0.000,4,0.000,0.077,2122,3856,3416
$GC,5698,-1.13,-146.6,603.8,-9.2,274,5704,0.00,2.17,0.00,0.000,6,0.000,0.035,2122,2597,3415
$GC,6013,-1.13,-146.6,630.0,-7.7,290,6017,0.00,2.50,0.00,0.000,4,0.000,0.051,2122,1204,3415
$GC,6070,-1.19,-146.6,634.0,-7.3,292,6076,0.00,2.50,0.00,0.000,6,0.000,0.044,2122,2604,3415
$GC,6386,-1.23,-146.6,660.4,-9.4,308,6391,0.15,2.40,0.00,0.000,4,0.049,0.081,2079,3861,3414
$GC,6475,-1.13,-146.6,670.8,-12.1,312,6480,0.17,2.20,0.00,0.000,6,0.102,0.037,2112,2597,3413
$GC,6796,-1.13,-146.6,699.4,-8.9,328,6800,0.00,2.53,0.00,0.000,4,0.000,0.057,2112,1204,3411
$GC,6858,-1.13,-146.6,704.9,-8.3,331,6863,0.00,2.53,0.00,0.000,6,0.000,0.050,2111,2602,3411
$GC,7185,-1.13,-146.6,735.6,-9.7,347,7189,0.00,2.55,0.00,0.000,4,0.000,0.055,2111,1201,3411
$GC,7225,-1.17,-146.6,739.7,-10.2,349,7229,0.00,2.55,0.00,0.000,6,0.000,0.052,2112,2606,3411
$GC,7551,-1.17,-146.6,763.4,-5.7,365,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2606,3409
$GC,7861,-1.17,-146.6,782.9,-2.1,380,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2606,3407
$GC,8170,-1.17,-146.6,803.6,-9.1,395,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2606,3406
$GC,8479,-1.17,-146.6,827.4,-7.7,410,8483,0.00,2.58,0.00,0.000,4,0.000,0.058,2111,1201,3404
$GC,8536,-1.23,-146.6,832.4,-10.4,412,8542,0.00,2.55,0.00,0.000,6,0.000,0.058,2112,2597,3404
$GC,8852,-1.48,-146.6,848.2,-3.3,428,8857,0.32,2.55,0.00,0.000,4,0.054,0.059,2033,1205,3403
$GC,9111,-1.74,-146.6,848.2,0.3,439,9117,0.25,2.55,0.00,0.000,6,0.067,0.052,1976,2609,3401
$STATE,9258,end dive,NO_VERTICAL_VELOCITY
$STATE,9259,begin apogee
$GC,9265,-0.31,0.0,848.3,0.0,447,9401,1.52,0.00,128.52,1.170,6,0.087,0.000,2294,2303,2817
$STATE,9402,end apogee,CONTROL_FINISHED_OK
$STATE,9402,begin climb
$GC,9405,1.03,146.6,847.9,0.0,454,9550,1.35,2.80,132.18,1.135,4,0.075,0.081,2580,3708,2217
$GC,9581,0.82,182.9,839.9,6.3,462,9621,0.20,2.58,33.10,1.085,6,0.098,0.044,2543,2300,2070
$GC,9948,0.82,182.9,804.9,9.5,480,9953,0.00,2.65,0.00,0.000,4,0.000,0.067,2543,893,2060
$GC,10184,0.86,211.8,783.5,6.5,490,10215,0.00,2.55,25.23,1.050,6,0.000,0.050,2543,2302,1953
$GC,10545,0.98,327.2,765.4,3.6,508,10661,0.15,2.78,107.50,1.095,4,0.058,0.079,2580,3702,1480
$GC,10700,0.98,327.2,755.2,8.5,515,10705,0.00,2.55,0.00,0.000,6,0.000,0.044,2580,2300,1477
$GC,11016,0.98,327.2,726.2,10.5,530,11020,0.00,2.65,0.00,0.000,4,0.000,0.068,2580,889,1470
$GC,11065,0.98,327.2,720.4,9.5,532,11070,0.00,2.60,0.00,0.000,6,0.000,0.051,2580,2307,1468
$GC,11381,0.98,327.2,684.4,11.7,547,11386,0.00,2.70,0.00,0.000,4,0.000,0.079,2579,3705,1467
$GC,11408,0.98,327.2,680.9,12.8,548,11412,0.00,2.53,0.00,0.000,6,0.000,0.043,2580,2299,1467
$GC,11724,0.98,327.2,643.3,12.4,563,11728,0.00,2.65,0.00,0.000,4,0.000,0.067,2580,890,1466
$GC,11756,0.98,327.2,639.0,13.2,564,11762,0.00,2.58,0.00,0.000,6,0.000,0.048,2580,2309,1465
$GC,12072,0.98,327.2,601.8,11.3,580,12076,0.00,2.67,0.00,0.000,4,0.000,0.076,2580,3708,1465
$GC,12127,0.98,327.2,595.5,11.8,582,12133,0.00,2.55,0.00,0.000,6,0.000,0.042,2580,2291,1465
$GC,12442,0.98,327.2,561.5,10.4,598,12447,0.00,2.70,0.00,0.000,4,0.000,0.072,2580,3708,1465
$GC,12470,0.98,327.2,558.5,10.3,599,12474,0.00,2.53,0.00,0.000,6,0.000,0.039,2580,2295,1465
$GC,12785,0.98,327.2,529.0,9.0,614,12786,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2295,1465
$GC,13095,0.98,327.2,499.2,9.8,629,13099,0.00,2.67,0.00,0.000,4,0.000,0.067,2580,3715,1465
$GC,13122,0.98,327.2,496.3,10.5,630,13126,0.00,2.53,0.00,0.000,6,0.000,0.036,2580,2291,1465
$GC,13437,0.98,327.2,462.3,10.6,645,13441,0.00,2.55,0.00,0.000,4,0.000,0.057,2580,889,1464
$GC,13526,0.98,327.2,451.6,12.2,649,13530,0.00,2.50,0.00,0.000,6,0.000,0.038,2580,2306,1464
$GC,13847,1.02,327.2,417.0,10.2,665,13851,0.00,2.58,0.00,0.000,4,0.000,0.051,2580,888,1465
$GC,13886,1.10,327.2,412.6,10.7,667,13891,0.00,2.50,0.00,0.000,6,0.000,0.038,2580,2302,1465
$GC,14213,1.10,327.2,379.8,9.8,683,14218,0.00,2.60,0.00,0.000,4,0.000,0.064,2580,3701,1464
$GC,14253,1.10,327.2,375.5,11.4,685,14257,0.00,2.45,0.00,0.000,6,0.000,0.033,2580,2296,1464
$GC,14580,1.14,327.2,342.7,9.3,701,14585,0.12,2.53,0.00,0.000,4,0.051,0.051,2618,897,1465
$GC,14620,1.07,327.2,338.3,11.7,703,14625,0.12,2.47,0.00,0.000,6,0.091,0.038,2595,2301,1465
$GC,14946,1.07,327.2,301.1,12.8,719,14950,0.00,2.53,0.00,0.000,4,0.000,0.049,2594,895,1465
$GC,14974,1.07,327.2,297.5,12.5,720,14978,0.00,2.47,0.00,0.000,6,0.000,0.037,2594,2302,1465
$GC,15295,1.07,327.2,264.4,10.6,736,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2302,1466
$GC,15605,1.07,327.2,232.3,10.1,751,15609,0.00,2.55,0.00,0.000,4,0.000,0.048,2594,890,1466
$GC,15644,1.07,327.2,227.9,10.6,753,15649,0.00,2.47,0.00,0.000,6,0.000,0.036,2594,2302,1467
$GC,15971,1.07,327.2,194.5,10.2,769,15972,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2302,1467
$GC,16280,1.07,327.2,164.0,10.2,784,16284,0.00,2.53,0.00,0.000,4,0.000,0.046,2594,896,1468
$GC,16313,1.07,327.2,160.4,10.7,785,16320,0.00,2.45,0.00,0.000,6,0.000,0.037,2595,2298,1468
$GC,16630,1.07,327.2,128.0,10.4,801,16634,0.00,2.53,0.00,0.000,4,0.000,0.046,2594,892,1468
$GC,16673,1.07,327.2,123.0,10.4,803,16678,0.00,2.47,0.00,0.000,6,0.000,0.035,2594,2304,1467
$GC,16995,1.07,327.2,92.5,9.2,819,17000,0.00,2.53,0.00,0.000,4,0.000,0.047,2594,897,1468
$GC,17051,1.12,327.2,87.2,8.6,821,17058,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2306,1468
$GC,17367,1.12,327.2,55.3,11.1,837,17372,0.00,2.53,0.00,0.000,4,0.000,0.047,2594,897,1469
$GC,17395,1.12,327.2,52.1,12.2,838,17399,0.00,2.45,0.00,0.000,6,0.000,0.035,2594,2299,1469
$GC,17711,1.12,327.2,18.5,10.8,853,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2299,1469
$STATE,17873,end climb,SURFACE_DEPTH_REACHED
$STATE,17873,begin surface coast
$FINISH,0.6,1.017385
$STATE,17895,end surface coast,CONTROL_FINISHED_OK
$STATE,17895,begin surface
$SM_CCo,17978,0.00,0.000,0,0,1468,331.15
$SM_GC,1.37,11.98,0.00,0.00,0.086,0.000,0.000,75,2618,1468,-10.47,0.51,331.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1689
$TCM_TEMP,17.60
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,775.3,85.1
$24V_AH,23.5,11.012
$10V_AH,10.1,4.431
$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,Compass2
$DEVICE_SECS,28.775,175.675,426.525,0.000,0.000,18.003,27.263,177.290,12.500,0.000,0.000,16.127,1605.519,13689.039,545.368,1972.247,504.628,33.346,1569.589,0.000,1922.052,0.000,46.427,0.000
$DEVICE_MAMPS,188.682,81.302,1170.442,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,623.594,607.494,479.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44263,862
$CAP_FILE_SIZE,138104,0
$CFSIZE,260165632,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100609,102331,6142.452,-856.613,37,1.8,37,-9.3