version: 66.04
glider: 16
mission: 13
dive: 31
start: 6 10 109 15 25 23
data:
$ID,16
$MISSION,13
$DIVE,31
$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,-2108140.8
$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,29
$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
$GPS1,151607,6142.553,-858.988,26,1.6,26,-9.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.1
$GPS2,152432,6142.541,-859.110,10,1.5,10,-9.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.237
$KALMAN_X,-62709.2,1077.3,941.7,23057.9,-10628.8
$KALMAN_Y,121666.4,123.5,-984.4,-87420.5,15190.2
$MHEAD_RNG_PITCHd_Wd,136.9,38053,-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,15,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-60.95,0.000,2,0.000,0.000,74,2611,3123
$GC,81,-1.03,-146.6,4.2,-6.6,3,104,11.95,2.60,-5.45,0.000,4,0.186,0.053,2129,1189,3418
$GC,295,-1.03,-146.6,31.4,-9.9,12,299,0.00,2.50,0.00,0.000,6,0.000,0.037,2129,2600,3418
$GC,611,-1.03,-146.6,60.5,-9.1,27,615,0.00,2.50,0.00,0.000,4,0.000,0.040,2129,1187,3418
$GC,638,-1.03,-146.6,63.0,-8.8,28,642,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2601,3418
$GC,955,-1.03,-146.6,91.5,-8.8,43,959,0.00,2.35,0.00,0.000,4,0.000,0.069,2129,3860,3419
$GC,996,-1.03,-146.6,95.3,-9.2,45,1000,0.00,2.20,0.00,0.000,6,0.000,0.029,2129,2569,3419
$GC,1323,-1.03,-146.6,121.8,-7.9,61,1327,0.00,2.40,0.00,0.000,4,0.000,0.041,2129,1208,3419
$GC,1389,-1.03,-146.6,127.3,-8.4,64,1394,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2609,3419
$GC,1710,-1.03,-146.6,154.3,-8.4,80,1714,0.00,2.33,0.00,0.000,4,0.000,0.068,2129,3860,3419
$GC,1738,-1.03,-146.6,156.8,-9.0,81,1742,0.00,2.15,0.00,0.000,6,0.000,0.029,2130,2593,3419
$GC,2059,-1.03,-146.6,184.0,-8.3,97,2063,0.00,2.45,0.00,0.000,4,0.000,0.042,2130,1205,3419
$GC,2087,-1.03,-146.6,186.4,-8.3,98,2091,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2601,3419
$GC,2408,-1.03,-146.6,211.7,-7.4,114,2412,0.00,2.35,0.00,0.000,4,0.000,0.069,2130,3863,3419
$GC,2429,-1.03,-146.6,213.5,-8.0,115,2433,0.00,2.15,0.00,0.000,6,0.000,0.029,2129,2597,3419
$GC,2757,-1.03,-146.6,241.3,-8.6,131,2761,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1208,3419
$GC,2812,-1.07,-146.6,246.0,-8.7,133,2818,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,3128,-1.07,-146.6,273.5,-8.9,149,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,3438,-1.07,-146.6,300.9,-9.1,164,3442,0.00,2.35,0.00,0.000,4,0.000,0.070,2130,3861,3419
$GC,3471,-1.07,-146.6,304.4,-9.8,165,3477,0.00,2.15,0.00,0.000,6,0.000,0.030,2129,2592,3419
$GC,3787,-1.07,-146.6,334.3,-10.0,181,3791,0.00,2.42,0.00,0.000,4,0.000,0.043,2130,1211,3419
$GC,3814,-1.07,-146.6,337.2,-9.8,182,3818,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2601,3419
$GC,4135,-1.07,-146.6,367.9,-9.5,198,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3419
$GC,4444,-1.07,-146.6,394.4,-8.1,213,4448,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1202,3419
$GC,4488,-1.13,-146.6,398.5,-9.7,215,4493,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2607,3419
$GC,4810,-1.13,-146.6,426.2,-8.9,231,4815,0.00,2.35,0.00,0.000,4,0.000,0.071,2129,3865,3419
$GC,4838,-1.13,-146.6,429.0,-9.8,232,4842,0.00,2.15,0.00,0.000,6,0.000,0.030,2130,2600,3419
$GC,5159,-1.13,-146.6,457.0,-9.5,248,5163,0.00,2.45,0.00,0.000,4,0.000,0.044,2129,1208,3419
$GC,5220,-1.20,-146.6,462.4,-8.1,250,5227,0.15,2.45,0.00,0.000,6,0.044,0.039,2085,2599,3419
$GC,5537,-1.07,-146.6,492.5,-10.4,266,5538,0.22,0.00,0.00,0.000,6,0.100,0.000,2128,2599,3419
$GC,5846,-1.07,-146.6,516.1,-6.1,281,5850,0.00,2.35,0.00,0.000,4,0.000,0.071,2128,3858,3419
$GC,5912,-1.07,-146.6,520.5,-10.4,284,5916,0.00,2.15,0.00,0.000,6,0.000,0.031,2128,2596,3419
$GC,6240,-1.11,-146.6,537.6,-4.4,300,6244,0.00,2.38,0.00,0.000,4,0.000,0.073,2128,3858,3419
$GC,6329,-1.11,-146.6,543.6,-5.8,304,6333,0.00,2.15,0.00,0.000,6,0.000,0.030,2128,2596,3418
$GC,6656,-1.11,-146.6,548.5,-2.4,320,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2594,3418
$GC,6965,-1.11,-146.6,563.9,-6.0,335,6969,0.00,2.47,0.00,0.000,4,0.000,0.046,2128,1205,3418
$GC,6998,-1.17,-146.6,565.9,-6.3,336,7005,0.12,2.47,0.00,0.000,6,0.048,0.041,2088,2601,3418
$GC,7314,-1.09,-146.6,594.9,-9.9,352,7319,0.17,2.38,0.00,0.000,4,0.099,0.075,2120,3860,3418
$GC,7371,-1.09,-146.6,600.6,-9.4,354,7377,0.00,2.15,0.00,0.000,6,0.000,0.033,2120,2605,3418
$GC,7687,-1.09,-146.6,627.4,-8.2,370,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2603,3417
$GC,7996,-1.09,-146.6,653.3,-8.9,385,8000,0.00,2.38,0.00,0.000,4,0.000,0.078,2120,3858,3416
$GC,8074,-1.09,-146.6,660.8,-9.5,388,8078,0.00,2.17,0.00,0.000,6,0.000,0.036,2120,2606,3415
$GC,8395,-1.09,-146.6,684.8,-6.7,404,8400,0.00,2.55,0.00,0.000,4,0.000,0.056,2120,1199,3415
$GC,8446,-1.15,-146.6,688.4,-6.2,406,8451,0.00,2.53,0.00,0.000,6,0.000,0.049,2120,2598,3415
$GC,8763,-1.15,-146.6,701.7,-4.3,421,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2598,3414
$GC,9072,-1.15,-146.6,720.9,-7.3,436,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2599,3412
$GC,9381,-1.15,-146.6,743.4,-10.0,451,9385,0.00,2.45,0.00,0.000,4,0.000,0.091,2120,3860,3410
$GC,9431,-1.15,-146.6,748.7,-11.1,453,9434,0.00,2.22,0.00,0.000,6,0.000,0.041,2120,2601,3410
$GC,9752,-1.15,-146.6,773.3,-5.9,469,9757,0.00,2.58,0.00,0.000,4,0.000,0.061,2120,1194,3409
$GC,9786,-1.30,-146.6,775.4,-5.8,470,9793,0.20,2.55,0.00,0.000,6,0.054,0.054,2071,2600,3409
$STATE,9975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9975,begin apogee
$GC,9983,-0.31,0.0,796.8,13.1,480,10118,1.15,0.00,128.50,1.124,6,0.132,0.000,2289,2302,2816
$STATE,10119,end apogee,CONTROL_FINISHED_OK
$STATE,10119,begin climb
$GC,10122,1.03,146.6,802.7,0.0,487,10261,1.40,2.70,130.62,1.100,4,0.084,0.062,2579,891,2218
$GC,10518,0.90,146.6,776.9,13.3,504,10523,0.12,2.58,0.00,0.000,6,0.110,0.049,2557,2308,2208
$GC,10839,0.89,228.3,758.0,4.7,520,10918,0.00,2.70,72.57,1.078,4,0.000,0.062,2557,895,1885
$GC,11024,0.89,228.3,744.5,8.4,527,11030,0.00,2.58,0.00,0.000,6,0.000,0.050,2557,2301,1877
$GC,11340,0.89,228.3,716.1,8.8,543,11344,0.00,2.62,0.00,0.000,4,0.000,0.061,2557,895,1874
$GC,11361,0.89,228.3,713.8,10.7,544,11366,0.00,2.55,0.00,0.000,6,0.000,0.048,2557,2304,1873
$GC,11682,0.89,229.2,689.2,7.5,560,11686,0.00,2.70,0.00,0.000,4,0.000,0.080,2557,3704,1872
$GC,11749,0.83,229.2,683.3,9.8,563,11753,0.00,2.53,0.00,0.000,6,0.000,0.042,2557,2299,1872
$GC,12069,0.87,269.3,662.1,6.1,579,12112,0.00,2.78,36.45,1.035,4,0.000,0.077,2557,3703,1718
$GC,12136,0.87,269.3,656.7,9.3,582,12140,0.00,2.55,0.00,0.000,6,0.000,0.042,2557,2302,1717
$GC,12462,0.87,269.3,622.0,11.0,598,12467,0.00,2.70,0.00,0.000,4,0.000,0.076,2557,3708,1712
$GC,12495,0.87,269.3,617.9,11.4,599,12501,0.00,2.55,0.00,0.000,6,0.000,0.042,2557,2295,1712
$GC,12811,0.87,269.3,579.1,12.1,615,12815,0.00,2.67,0.00,0.000,4,0.000,0.072,2557,3704,1711
$GC,12855,0.87,269.3,573.1,14.9,617,12859,0.00,2.53,0.00,0.000,6,0.000,0.038,2557,2290,1711
$GC,13175,0.87,269.3,531.2,13.8,633,13180,0.00,2.70,0.00,0.000,4,0.000,0.069,2557,3709,1710
$GC,13238,0.87,269.3,522.6,13.3,636,13242,0.00,2.50,0.00,0.000,6,0.000,0.038,2557,2300,1710
$GC,13565,0.91,269.3,483.9,11.0,652,13570,0.00,2.65,0.00,0.000,4,0.000,0.067,2557,3707,1710
$GC,13593,0.91,269.3,480.6,11.6,653,13597,0.00,2.50,0.00,0.000,6,0.000,0.036,2557,2295,1710
$GC,13909,0.96,269.3,450.6,8.3,668,13913,0.00,2.65,0.00,0.000,4,0.000,0.065,2557,3705,1710
$GC,13942,0.96,269.3,447.5,8.7,669,13948,0.00,2.47,0.00,0.000,6,0.000,0.035,2557,2299,1710
$GC,14257,1.01,269.3,422.3,7.7,685,14259,0.10,0.00,0.00,0.000,6,0.056,0.000,2585,2298,1710
$GC,14566,1.01,269.3,395.5,8.7,700,14570,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,894,1710
$GC,14612,1.01,269.3,391.2,9.0,702,14616,0.00,2.50,0.00,0.000,6,0.000,0.038,2586,2313,1710
$GC,14938,1.01,269.3,361.0,9.7,718,14942,0.00,2.60,0.00,0.000,4,0.000,0.064,2586,3709,1710
$GC,14965,0.96,269.3,358.2,10.4,719,14970,0.00,2.47,0.00,0.000,6,0.000,0.032,2585,2295,1711
$GC,15281,0.96,269.3,327.9,9.4,734,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2293,1711
$GC,15590,0.96,269.3,298.8,9.5,749,15594,0.00,2.60,0.00,0.000,4,0.000,0.061,2585,3705,1712
$GC,15623,0.90,269.3,295.3,10.5,750,15630,0.15,2.45,0.00,0.000,6,0.099,0.031,2558,2298,1711
$GC,15939,0.96,269.3,269.3,8.3,766,15943,0.00,2.50,0.00,0.000,4,0.000,0.050,2557,897,1712
$GC,15978,1.03,269.3,265.8,8.4,767,15985,0.12,2.47,0.00,0.000,6,0.058,0.036,2587,2308,1711
$GC,16294,1.03,269.3,232.9,10.4,783,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2308,1712
$GC,16603,1.03,269.3,202.7,9.1,798,16607,0.00,2.58,0.00,0.000,4,0.000,0.062,2588,3705,1712
$GC,16636,0.98,269.3,199.4,9.1,799,16642,0.00,2.45,0.00,0.000,6,0.000,0.031,2588,2295,1712
$GC,16952,0.98,269.3,172.4,8.6,815,16955,0.00,2.50,0.00,0.000,4,0.000,0.048,2588,891,1713
$GC,17002,0.98,269.3,167.6,10.1,817,17006,0.00,2.47,0.00,0.000,6,0.000,0.035,2588,2304,1712
$GC,17323,0.94,269.3,134.7,10.8,833,17328,0.12,2.58,0.00,0.000,4,0.104,0.062,2565,3698,1713
$GC,17368,0.98,269.3,129.6,9.9,835,17372,0.00,2.45,0.00,0.000,6,0.000,0.031,2565,2290,1713
$GC,17689,1.03,269.3,98.2,10.1,851,17693,0.00,2.50,0.00,0.000,4,0.000,0.048,2565,890,1713
$GC,17711,1.08,269.3,95.8,10.7,852,17716,0.15,2.47,0.00,0.000,6,0.051,0.035,2604,2307,1712
$GC,18033,1.02,269.3,57.0,11.3,868,18038,0.12,2.53,0.00,0.000,4,0.104,0.044,2583,895,1714
$GC,18077,1.02,269.3,51.9,11.4,870,18081,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2309,1713
$GC,18398,1.02,269.3,18.4,9.4,886,18403,0.00,2.53,0.00,0.000,4,0.000,0.047,2583,897,1713
$GC,18439,1.02,269.3,14.2,11.5,888,18443,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2303,1714
$STATE,18557,end climb,SURFACE_DEPTH_REACHED
$STATE,18557,begin surface coast
$FINISH,0.7,1.026820
$STATE,18579,end surface coast,CONTROL_FINISHED_OK
$STATE,18579,begin surface
$SM_CCo,18662,0.00,0.000,0,0,1710,271.30
$SM_GC,1.71,11.62,0.00,0.00,0.073,0.000,0.000,74,2613,1710,-10.46,0.37,271.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1709
$TCM_TEMP,16.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,752.2,51.6
$24V_AH,23.5,11.301
$10V_AH,10.1,4.597
$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,27.900,203.300,368.150,0.000,0.000,37.962,55.440,232.295,11.000,0.000,0.000,10.594,1686.230,14294.033,516.869,2044.202,623.676,33.351,1571.294,0.000,1992.274,0.000,45.013,0.000
$DEVICE_MAMPS,185.614,91.273,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.103,633.351,512.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47352,895
$CAP_FILE_SIZE,150579,0
$CFSIZE,260165632,256409600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100609,203759,6143.987,-902.311,38,2.2,57,-9.3