version: 66.04
glider: 16
mission: 13
dive: 79
start: 6 19 109 10 46 32
data:
$ID,16
$MISSION,13
$DIVE,79
$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,2
$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,-2109002.2
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,103737,6219.234,-1139.415,41,2.0,42,-11.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.6
$GPS2,104614,6219.219,-1139.448,12,1.4,12,-11.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,9.6,19972,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.90,0.000,6,0.000,0.000,75,2600,3415
$GC,80,-1.03,-146.6,7.5,-14.3,3,102,11.85,2.55,0.00,0.000,4,0.183,0.040,2130,1188,3416
$GC,216,-1.03,-146.6,34.3,-9.5,9,220,0.00,2.50,0.00,0.000,6,0.000,0.037,2130,2602,3418
$GC,542,-1.03,-146.6,64.9,-9.3,25,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3418
$GC,852,-1.03,-146.6,91.7,-8.4,40,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2603,3419
$GC,1161,-1.03,-146.6,118.3,-8.8,55,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,1472,-1.03,-146.6,145.3,-8.9,70,1476,0.00,2.50,0.00,0.000,4,0.000,0.040,2130,1189,3419
$GC,1511,-1.03,-146.6,149.1,-8.7,72,1516,0.00,2.50,0.00,0.000,6,0.000,0.038,2130,2604,3418
$GC,1838,-1.03,-146.6,180.1,-9.7,88,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3418
$GC,2147,-1.03,-146.6,209.7,-9.8,103,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3418
$GC,2457,-1.03,-146.6,239.8,-9.8,118,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2604,3418
$GC,2766,-1.03,-146.6,270.8,-10.1,133,2770,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1192,3418
$GC,2805,-1.03,-146.6,274.6,-10.0,135,2810,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,3137,-1.03,-146.6,307.1,-9.3,151,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3418
$GC,3447,-1.03,-146.6,335.5,-9.2,166,3451,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3417
$GC,3496,-1.03,-146.6,340.3,-9.6,168,3500,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3417
$GC,3812,-1.03,-146.6,369.1,-9.0,183,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3417
$GC,4121,-1.03,-146.6,398.7,-9.7,198,4125,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1188,3417
$GC,4160,-1.03,-146.6,402.5,-9.4,200,4164,0.00,2.50,0.00,0.000,6,0.000,0.039,2130,2608,3417
$GC,4486,-1.03,-146.6,433.4,-9.4,216,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3417
$GC,4796,-1.03,-146.6,460.6,-8.4,231,4800,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1192,3417
$GC,4835,-1.03,-146.6,463.9,-8.3,233,4839,0.00,2.47,0.00,0.000,6,0.000,0.039,2130,2599,3417
$GC,5162,-1.03,-146.6,490.9,-8.2,249,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3417
$GC,5471,-1.03,-146.6,514.9,-7.7,264,5475,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3417
$GC,5516,-1.08,-146.6,518.2,-7.4,266,5520,0.00,2.47,0.00,0.000,6,0.000,0.039,2131,2601,3417
$GC,5837,-1.08,-146.6,541.0,-7.0,282,5841,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3417
$GC,5881,-1.12,-146.6,544.3,-6.9,284,5886,0.00,2.47,0.00,0.000,6,0.000,0.039,2130,2600,3416
$GC,6203,-1.12,-146.6,568.0,-7.8,300,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,6512,-1.12,-146.6,593.1,-8.4,315,6516,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1195,3416
$GC,6601,-1.16,-146.6,600.9,-8.6,319,6607,0.12,2.47,0.00,0.000,6,0.048,0.039,2091,2599,3416
$GC,6923,-1.05,-146.6,636.8,-12.0,335,6925,0.20,0.00,0.00,0.000,6,0.100,0.000,2128,2599,3416
$GC,7232,-1.05,-146.6,666.0,-9.1,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3415
$GC,7541,-1.05,-146.6,694.2,-9.1,365,7545,0.00,2.47,0.00,0.000,4,0.000,0.042,2128,1195,3416
$GC,7647,-1.10,-146.6,704.1,-9.4,369,7653,0.00,2.50,0.00,0.000,6,0.000,0.041,2128,2610,3415
$GC,7963,-1.10,-146.6,733.0,-8.7,385,7967,0.00,2.50,0.00,0.000,4,0.000,0.043,2128,1196,3415
$GC,8024,-1.16,-146.6,738.3,-8.7,387,8030,0.00,2.47,0.00,0.000,6,0.000,0.041,2128,2600,3415
$GC,8340,-1.16,-146.6,765.8,-8.7,403,8344,0.00,2.50,0.00,0.000,4,0.000,0.044,2128,1189,3415
$GC,8469,-1.23,-146.6,776.7,-8.3,408,8476,0.17,2.50,0.00,0.000,6,0.046,0.043,2079,2600,3415
$GC,8785,-1.10,-146.6,809.9,-9.9,424,8787,0.20,0.00,0.00,0.000,6,0.097,0.000,2117,2600,3415
$GC,9094,-1.10,-146.6,833.3,-8.6,439,9098,0.00,2.50,0.00,0.000,4,0.000,0.048,2117,1197,3415
$GC,9206,-1.10,-146.6,843.7,-9.1,444,9211,0.00,2.50,0.00,0.000,6,0.000,0.046,2117,2597,3414
$GC,9527,-1.10,-146.6,870.1,-7.9,460,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2597,3413
$GC,9837,-1.10,-146.6,896.8,-8.4,475,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2597,3412
$STATE,9896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9896,begin apogee
$GC,9903,-0.31,0.0,902.5,8.8,478,10039,0.90,0.00,131.32,1.168,6,0.130,0.000,2289,2295,2817
$STATE,10040,end apogee,CONTROL_FINISHED_OK
$STATE,10040,begin climb
$GC,10043,1.03,146.6,908.6,0.0,485,10188,1.38,2.67,133.07,1.155,4,0.074,0.055,2582,905,2217
$GC,10225,0.91,157.6,902.4,7.1,493,10241,0.12,2.55,10.82,0.990,6,0.099,0.044,2560,2307,2174
$GC,10566,0.84,183.1,876.5,6.6,510,10596,0.00,2.78,24.15,1.075,4,0.000,0.074,2560,3702,2070
$GC,10647,0.71,183.1,869.7,7.8,513,10654,0.22,2.50,0.00,0.000,6,0.098,0.038,2516,2309,2067
$GC,10964,0.83,223.1,851.2,6.1,529,11006,0.12,0.00,38.12,1.099,6,0.053,0.000,2551,2309,1907
$GC,11315,0.83,223.1,824.0,7.7,546,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2309,1901
$GC,11624,0.83,223.1,796.4,9.2,561,11629,0.00,2.60,0.00,0.000,4,0.000,0.058,2552,891,1899
$GC,11680,0.83,223.1,791.5,8.0,563,11686,0.00,2.53,0.00,0.000,6,0.000,0.042,2552,2301,1898
$GC,11996,0.87,253.9,768.7,6.4,579,12030,0.00,2.72,29.17,1.052,4,0.000,0.070,2552,3704,1781
$GC,12099,0.87,253.9,760.7,8.5,583,12105,0.00,2.50,0.00,0.000,6,0.000,0.035,2552,2299,1778
$GC,12415,0.87,253.9,734.8,8.6,599,12419,0.00,2.58,0.00,0.000,4,0.000,0.056,2552,893,1775
$GC,12487,0.87,253.9,728.2,8.6,602,12491,0.00,2.53,0.00,0.000,6,0.000,0.040,2552,2309,1774
$GC,12803,0.87,253.9,702.2,7.8,617,12807,0.00,2.62,0.00,0.000,4,0.000,0.067,2552,3708,1774
$GC,12852,0.87,253.9,697.9,9.1,619,12856,0.00,2.50,0.00,0.000,6,0.000,0.034,2552,2290,1773
$GC,13168,0.87,253.9,673.0,8.0,634,13172,0.00,2.53,0.00,0.000,4,0.000,0.054,2552,892,1773
$GC,13218,0.91,253.9,668.6,9.0,636,13222,0.00,2.50,0.00,0.000,6,0.000,0.038,2552,2306,1772
$GC,13533,0.91,253.9,642.4,8.3,651,13535,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,1773
$GC,13844,0.95,253.9,616.8,8.4,666,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,1772
$GC,14152,0.95,253.9,590.4,8.5,681,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,1773
$GC,14462,1.00,253.9,565.4,7.9,696,14464,0.12,0.00,0.00,0.000,6,0.047,0.000,2589,2306,1772
$GC,14771,0.94,253.9,535.2,10.0,711,14773,0.15,0.00,0.00,0.000,6,0.091,0.000,2560,2306,1773
$GC,15080,0.94,253.9,508.2,8.7,726,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2306,1773
$GC,15389,0.94,253.9,482.0,8.2,741,15390,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2307,1773
$GC,15698,0.94,253.9,456.9,8.2,756,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2307,1774
$GC,16008,0.94,253.9,430.4,8.8,771,16009,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2307,1773
$GC,16317,0.94,253.9,402.9,8.9,786,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2306,1774
$GC,16626,0.94,253.9,375.8,8.5,801,16627,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2307,1774
$GC,16936,0.94,253.9,349.3,8.4,816,16937,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2306,1774
$GC,17245,0.98,253.9,323.0,8.6,831,17249,0.00,2.53,0.00,0.000,4,0.000,0.045,2560,891,1775
$GC,17278,1.02,253.9,319.9,8.8,832,17282,0.00,2.47,0.00,0.000,6,0.000,0.036,2560,2305,1774
$GC,17594,1.02,253.9,293.5,8.4,847,17595,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2305,1774
$GC,17903,1.02,253.9,267.0,8.6,862,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2305,1775
$GC,18212,1.06,253.9,239.9,8.8,877,18214,0.15,0.00,0.00,0.000,6,0.045,0.000,2606,2305,1775
$GC,18522,0.98,253.9,205.9,11.0,892,18524,0.17,0.00,0.00,0.000,6,0.088,0.000,2572,2306,1775
$GC,18830,0.98,253.9,177.3,9.3,907,18831,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2307,1774
$GC,19140,0.98,253.9,149.0,8.8,922,19143,0.00,2.50,0.00,0.000,4,0.000,0.044,2571,894,1775
$GC,19178,0.98,253.9,145.7,8.7,923,19185,0.00,2.45,0.00,0.000,6,0.000,0.035,2572,2302,1775
$GC,19494,0.98,253.9,120.0,8.0,939,19495,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1775
$GC,19804,0.98,253.9,95.6,7.8,954,19805,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1775
$GC,20113,0.98,253.9,70.0,8.5,969,20114,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1775
$GC,20424,0.98,253.9,43.6,9.3,984,20425,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1775
$GC,20731,0.98,253.9,19.3,7.6,999,20736,0.00,2.50,0.00,0.000,4,0.000,0.044,2571,893,1776
$GC,20776,1.03,253.9,15.3,10.3,1001,20780,0.00,2.45,0.00,0.000,6,0.000,0.035,2571,2301,1775
$STATE,20929,end climb,SURFACE_DEPTH_REACHED
$STATE,20929,begin surface coast
$FINISH,0.8,1.026501
$STATE,20953,end surface coast,CONTROL_FINISHED_OK
$STATE,20953,begin surface
$SM_CCo,21036,0.00,0.000,0,0,1771,256.34
$SM_GC,1.47,11.68,0.00,0.00,0.078,0.000,0.000,72,2608,1771,-10.47,0.20,256.34
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1718
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.5,59.6
$24V_AH,23.5,17.324
$10V_AH,10.1,7.990
$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,27.575,116.775,366.675,0.000,0.000,36.398,62.005,232.976,7.750,0.000,0.000,14.543,1783.385,16632.334,471.000,2042.072,619.352,0.000,1479.399,0.000,1995.155,0.000,54.450,0.000
$DEVICE_MAMPS,182.546,74.399,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,738.477,696.508,569.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50499,1010
$CAP_FILE_SIZE,137629,0
$CFSIZE,260165632,253870080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190609,163830,6222.344,-1142.323,40,1.5,46,-11.0