version: 66.03
glider: 16
mission: 9
dive: 75
start: 6 23 108 4 48 46
data:
$ID,16
$MISSION,9
$DIVE,75
$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,-2094338.5
$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,16
$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
$GPS1,044208,6116.973,-741.854,36,2.0,37,-8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.4
$GPS2,044753,6116.973,-741.784,17,4.1,36,-8.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.168,0.144
$KALMAN_X,-81123.7,-268.8,-14059.9,-35437.2,-87507.0
$KALMAN_Y,-44693.2,1064.6,-12870.1,110790.5,-70817.3
$MHEAD_RNG_PITCHd_Wd,256.5,9807,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.85,0.000,2,0.000,0.000,70,2304,2952
$GC,150,-0.85,-146.6,3.7,-2.8,6,180,11.43,2.75,-10.48,0.000,4,0.170,0.087,2107,3718,3382
$GC,410,-0.65,-146.6,36.6,-10.6,17,417,0.25,2.65,0.00,0.000,6,0.094,0.061,2157,2296,3382
$GC,726,-0.65,-146.6,61.5,-7.8,33,730,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,877,3382
$GC,776,-0.65,-146.6,65.3,-7.4,35,780,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2302,3382
$GC,1092,-0.65,-146.6,88.1,-7.2,50,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3382
$GC,1401,-0.65,-146.6,110.9,-7.2,65,1405,0.00,2.67,0.00,0.000,4,0.000,0.068,2157,880,3382
$GC,1445,-0.65,-146.6,114.2,-7.3,67,1450,0.00,2.62,0.00,0.000,6,0.000,0.057,2156,2302,3382
$GC,1767,-0.65,-146.6,136.5,-6.7,83,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3382
$GC,2076,-0.65,-146.6,158.6,-7.2,98,2080,0.00,2.67,0.00,0.000,4,0.000,0.069,2157,880,3382
$GC,2125,-0.65,-146.6,162.5,-8.0,100,2130,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2298,3382
$GC,2441,-0.65,-146.6,186.0,-7.5,115,2445,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,879,3382
$GC,2480,-0.65,-146.6,189.0,-8.1,117,2484,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2306,3382
$GC,2806,-0.65,-146.6,214.4,-7.9,133,2811,0.00,2.70,0.00,0.000,4,0.000,0.071,2157,877,3382
$GC,2856,-0.65,-146.6,218.6,-8.3,135,2861,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2304,3382
$GC,3172,-0.65,-146.6,245.6,-8.9,150,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2304,3382
$GC,3481,-0.65,-146.6,273.6,-9.3,165,3486,0.00,2.70,0.00,0.000,4,0.000,0.071,2157,874,3382
$GC,3531,-0.65,-146.6,278.2,-9.2,167,3536,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2305,3382
$GC,3847,-0.65,-146.6,304.7,-8.1,182,3851,0.00,2.70,0.00,0.000,4,0.000,0.071,2157,874,3382
$GC,3880,-0.65,-146.6,307.4,-7.8,183,3886,0.00,2.65,0.00,0.000,6,0.000,0.058,2158,2304,3382
$GC,4195,-0.65,-146.6,328.9,-5.9,199,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3382
$GC,4505,-0.65,-146.6,342.0,-4.5,214,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3382
$GC,4814,-0.65,-146.6,360.4,-6.2,229,4818,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,880,3382
$GC,4876,-0.65,-146.6,364.7,-7.2,232,4880,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2304,3382
$GC,5202,-0.65,-146.6,384.3,-6.2,248,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3382
$GC,5511,-0.65,-146.6,407.0,-8.2,263,5515,0.00,2.70,0.00,0.000,4,0.000,0.072,2157,873,3382
$GC,5551,-0.72,-146.6,410.3,-8.3,265,5555,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2301,3382
$GC,5877,-0.72,-146.6,435.7,-7.4,281,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3382
$GC,6186,-0.72,-146.6,459.4,-7.9,296,6191,0.00,2.70,0.00,0.000,4,0.000,0.074,2157,876,3382
$GC,6265,-0.79,-146.6,465.3,-7.3,299,6272,0.15,2.65,0.00,0.000,6,0.045,0.061,2111,2302,3382
$GC,6581,-0.66,-146.6,492.8,-8.9,315,6583,0.22,0.00,0.00,0.000,6,0.088,0.000,2155,2303,3382
$GC,6890,-0.66,-146.6,515.1,-7.3,330,6894,0.00,2.70,0.00,0.000,4,0.000,0.076,2155,883,3381
$GC,6929,-0.71,-146.6,518.2,-8.7,332,6934,0.00,2.65,0.00,0.000,6,0.000,0.064,2155,2301,3381
$GC,7256,-0.71,-146.6,543.6,-7.5,348,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2301,3380
$GC,7565,-0.71,-146.6,567.1,-7.5,363,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2302,3379
$GC,7875,-0.71,-146.6,588.5,-6.5,378,7879,0.00,2.72,0.00,0.000,4,0.000,0.079,2155,880,3378
$GC,7924,-0.77,-146.6,591.9,-6.8,380,7930,0.12,2.67,0.00,0.000,6,0.054,0.067,2119,2298,3378
$GC,8240,-0.67,-146.6,617.4,-8.7,395,8242,0.17,0.00,0.00,0.000,6,0.097,0.000,2152,2298,3377
$GC,8549,-0.67,-146.6,638.3,-6.3,410,8554,0.00,2.72,0.00,0.000,4,0.000,0.079,2152,878,3374
$GC,8599,-0.72,-146.6,641.5,-6.3,412,8604,0.00,2.67,0.00,0.000,6,0.000,0.068,2152,2300,3374
$GC,8915,-0.72,-146.6,658.7,-5.2,427,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2300,3372
$GC,9225,-0.72,-146.6,675.6,-5.6,442,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3372
$GC,9533,-0.72,-146.6,694.2,-6.1,457,9538,0.00,2.72,0.00,0.000,4,0.000,0.081,2152,880,3372
$GC,9573,-0.76,-146.6,696.8,-7.2,459,9578,0.00,2.67,0.00,0.000,6,0.000,0.070,2152,2302,3372
$GC,9900,-0.76,-146.6,718.3,-6.6,475,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2302,3370
$GC,10209,-0.76,-146.6,739.2,-6.4,490,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2302,3368
$GC,10518,-0.76,-146.6,761.6,-7.0,505,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2302,3368
$GC,10829,-0.76,-146.6,779.8,-6.5,520,10833,0.00,2.72,0.00,0.000,4,0.000,0.081,2152,886,3367
$GC,10873,-0.84,-146.6,783.0,-7.6,522,10878,0.17,2.67,0.00,0.000,6,0.054,0.070,2107,2299,3367
$STATE,10923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10923,begin apogee
$GC,10931,-0.31,0.0,787.5,9.0,525,11067,0.62,0.00,132.40,1.223,6,0.105,0.000,2229,2194,2781
$STATE,11067,end apogee,CONTROL_FINISHED_OK
$STATE,11067,begin climb
$GC,11070,0.85,146.6,793.2,0.0,532,11213,1.23,2.92,133.30,1.193,4,0.094,0.096,2479,3616,2183
$GC,11255,0.88,174.9,789.5,5.2,540,11289,0.00,2.72,26.98,1.134,6,0.000,0.076,2479,2205,2068
$GC,11613,0.93,226.0,771.9,4.6,558,11663,0.10,0.00,47.00,1.164,6,0.070,0.000,2504,2205,1859
$GC,11964,0.93,226.0,747.7,7.0,575,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2205,1859
$GC,12274,0.94,230.5,728.7,5.9,590,12281,0.00,0.00,5.62,0.887,6,0.000,0.000,2504,2204,1841
$GC,12582,0.94,230.5,708.4,8.7,605,12587,0.00,2.78,0.00,0.000,4,0.000,0.094,2504,3610,1841
$GC,12622,0.94,230.5,704.6,9.9,607,12627,0.00,2.70,0.00,0.000,6,0.000,0.074,2504,2195,1841
$GC,12948,0.94,230.5,679.5,6.0,623,12952,0.00,2.72,0.00,0.000,4,0.000,0.084,2504,786,1840
$GC,12975,0.94,230.5,677.7,6.1,624,12979,0.00,2.67,0.00,0.000,6,0.000,0.064,2504,2201,1840
$GC,13291,0.94,230.5,656.2,6.9,639,13295,0.00,2.78,0.00,0.000,4,0.000,0.095,2504,3612,1840
$GC,13318,0.94,230.5,654.2,6.6,640,13322,0.00,2.70,0.00,0.000,6,0.000,0.074,2504,2202,1840
$GC,13633,0.94,230.5,632.2,6.6,655,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2202,1840
$GC,13942,0.94,230.5,609.5,7.3,670,13947,0.00,2.78,0.00,0.000,4,0.000,0.094,2504,3612,1839
$GC,13986,0.94,230.5,606.2,8.3,672,13991,0.00,2.70,0.00,0.000,6,0.000,0.074,2504,2197,1839
$GC,14307,0.94,230.5,581.8,7.9,688,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2197,1839
$GC,14617,0.94,230.5,560.0,6.9,703,14621,0.00,2.80,0.00,0.000,4,0.000,0.094,2504,3611,1839
$GC,14649,0.94,230.5,557.4,8.0,704,14655,0.00,2.70,0.00,0.000,6,0.000,0.075,2504,2200,1839
$GC,14965,0.94,230.5,536.9,6.4,720,14969,0.00,2.80,0.00,0.000,4,0.000,0.094,2504,3616,1839
$GC,14999,0.94,230.5,534.6,6.6,721,15005,0.00,2.72,0.00,0.000,6,0.000,0.075,2504,2191,1839
$GC,15314,0.94,230.5,514.9,6.2,737,15316,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2191,1839
$GC,15624,0.94,230.5,494.6,7.0,752,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2191,1838
$GC,15933,0.94,230.5,470.1,7.8,767,15934,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2191,1838
$GC,16242,0.94,230.5,448.4,6.6,782,16247,0.00,2.78,0.00,0.000,4,0.000,0.092,2504,3614,1838
$GC,16320,0.94,230.5,442.7,6.7,785,16326,0.00,2.70,0.00,0.000,6,0.000,0.075,2504,2202,1838
$GC,16636,0.94,230.5,423.4,6.4,801,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2202,1838
$GC,16945,0.94,230.5,401.1,7.8,816,16950,0.00,2.75,0.00,0.000,4,0.000,0.089,2504,3613,1838
$GC,16978,0.94,230.5,398.2,8.2,817,16984,0.00,2.70,0.00,0.000,6,0.000,0.073,2504,2194,1838
$GC,17293,0.94,230.5,370.0,7.8,833,17297,0.00,2.67,0.00,0.000,4,0.000,0.077,2504,782,1838
$GC,17320,0.94,230.5,367.6,9.6,834,17325,0.00,2.62,0.00,0.000,6,0.000,0.058,2504,2200,1838
$GC,17636,1.00,287.1,347.4,4.5,849,17691,0.00,2.80,48.85,0.913,4,0.000,0.074,2504,785,1609
$GC,17721,1.06,287.1,342.8,6.0,853,17726,0.12,2.67,0.00,0.000,6,0.071,0.057,2530,2205,1609
$GC,18048,1.06,287.1,313.6,8.7,869,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2204,1610
$GC,18357,1.06,287.1,285.7,8.9,884,18361,0.00,2.72,0.00,0.000,4,0.000,0.084,2530,3615,1611
$GC,18396,1.06,287.1,281.8,9.7,886,18401,0.00,2.70,0.00,0.000,6,0.000,0.069,2530,2199,1611
$GC,18723,1.06,287.1,251.4,9.2,902,18725,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1612
$GC,19032,1.06,287.1,221.9,9.5,917,19034,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1612
$GC,19342,1.06,287.1,190.6,10.5,932,19343,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1613
$GC,19651,1.06,287.1,159.3,9.8,947,19652,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2199,1613
$GC,19961,1.06,287.1,130.3,9.0,962,19965,0.00,2.72,0.00,0.000,4,0.000,0.080,2530,3616,1614
$GC,19987,1.06,287.1,127.6,8.7,963,19992,0.00,2.67,0.00,0.000,6,0.000,0.067,2530,2200,1614
$GC,20305,1.06,287.1,103.9,6.9,978,20306,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2200,1615
$GC,20613,1.06,287.1,83.7,6.6,993,20617,0.00,2.67,0.00,0.000,4,0.000,0.071,2530,779,1615
$GC,20645,1.06,287.1,81.4,6.6,994,20652,0.00,2.62,0.00,0.000,6,0.000,0.054,2530,2204,1615
$GC,20963,1.06,287.1,60.8,6.4,1010,20967,0.00,2.70,0.00,0.000,4,0.000,0.080,2530,3614,1616
$GC,20995,1.06,287.1,58.5,6.9,1011,21002,0.00,2.65,0.00,0.000,6,0.000,0.066,2529,2200,1616
$GC,21313,1.06,287.1,36.2,7.3,1027,21314,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2200,1617
$GC,21621,1.06,287.1,13.3,7.3,1042,21622,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2200,1617
$STATE,21783,end climb,SURFACE_DEPTH_REACHED
$STATE,21783,begin surface coast
$FINISH,0.7,1.002408
$STATE,21805,end surface coast,CONTROL_FINISHED_OK
$STATE,21805,begin surface
$SM_CCo,21827,130.52,0.605,0,0,509,557.32
$SM_GC,1.34,0.00,0.00,130.52,0.000,0.000,0.605,65,2307,509,-10.28,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1828
$TCM_TEMP,17.70
$XPDR_PINGS,48
$ALTIM_TOP_PING,19.3,18.5
$ALTIM_BOTTOM_PING,775.8,19.9
$24V_AH,23.4,15.412
$10V_AH,10.1,7.847
$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,25.275,167.650,394.150,130.525,0.000,18.044,26.916,149.692,19.250,0.000,0.000,37.037,1879.623,17006.592,730.618,2163.131,522.362,33.372,1798.110,0.000,2090.737,0.000,50.512
$DEVICE_MAMPS,169.507,95.875,1222.598,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.597,717.856,627.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53827,1051
$CAP_FILE_SIZE,147609,0
$CFSIZE,260165632,253468672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,230608,105607,6118.892,-746.594,37,1.6,43,-8.5