version: 66.04
glider: 16
mission: 13
dive: 69
start: 6 16 109 18 35 1
data:
$ID,16
$MISSION,13
$DIVE,69
$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,270
$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,-2108827.2
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,182824,6201.511,-1055.670,24,1.0,42,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.3
$GPS2,183443,6201.532,-1055.734,9,1.2,14,-10.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6201.532,-1118.756
$TGT_RADIUS,1852.000
$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,280.5,20000,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-56.47,0.000,6,0.000,0.000,73,2603,3415
$GC,80,-1.03,-146.6,7.2,-14.1,3,101,11.90,2.55,0.00,0.000,4,0.184,0.038,2132,1187,3416
$GC,230,-1.03,-146.6,34.5,-9.2,9,237,0.00,2.47,0.00,0.000,6,0.000,0.036,2132,2599,3416
$GC,546,-1.03,-146.6,64.4,-9.4,25,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3416
$GC,856,-1.03,-146.6,95.4,-9.6,40,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,1165,-1.03,-146.6,124.0,-8.9,55,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,1476,-1.03,-146.6,149.0,-8.0,70,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2599,3417
$GC,1784,-1.03,-146.6,175.4,-9.0,85,1788,0.00,2.50,0.00,0.000,4,0.000,0.039,2132,1184,3417
$GC,1841,-1.07,-146.6,180.4,-8.6,87,1847,0.00,2.50,0.00,0.000,6,0.000,0.038,2133,2601,3417
$GC,2156,-1.07,-146.6,210.5,-9.7,103,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2602,3418
$GC,2466,-1.07,-146.6,240.2,-9.4,118,2470,0.00,2.50,0.00,0.000,4,0.000,0.041,2132,1181,3417
$GC,2499,-1.07,-146.6,243.4,-9.6,119,2503,0.00,2.50,0.00,0.000,6,0.000,0.038,2132,2604,3417
$GC,2814,-1.07,-146.6,271.0,-8.8,134,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2603,3417
$GC,3124,-1.07,-146.6,298.1,-8.9,149,3128,0.00,2.50,0.00,0.000,4,0.000,0.041,2133,1185,3417
$GC,3156,-1.07,-146.6,301.2,-8.9,150,3163,0.00,2.47,0.00,0.000,6,0.000,0.038,2132,2600,3416
$GC,3473,-1.07,-146.6,329.6,-9.2,166,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2600,3416
$GC,3782,-1.07,-146.6,359.1,-9.7,181,3786,0.00,2.47,0.00,0.000,4,0.000,0.041,2133,1188,3416
$GC,3826,-1.12,-146.6,363.4,-9.5,183,3830,0.00,2.47,0.00,0.000,6,0.000,0.038,2133,2600,3416
$GC,4146,-1.12,-146.6,395.3,-9.9,199,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2600,3416
$GC,4456,-1.12,-146.6,424.4,-9.1,214,4461,0.00,2.47,0.00,0.000,4,0.000,0.041,2133,1191,3416
$GC,4517,-1.17,-146.6,430.1,-9.0,216,4524,0.12,2.47,0.00,0.000,6,0.050,0.038,2094,2599,3416
$GC,4833,-1.07,-146.6,466.2,-11.6,232,4835,0.17,0.00,0.00,0.000,6,0.099,0.000,2127,2600,3416
$GC,5142,-1.07,-146.6,497.4,-9.7,247,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3415
$GC,5452,-1.07,-146.6,526.3,-9.0,262,5456,0.00,2.47,0.00,0.000,4,0.000,0.041,2127,1190,3415
$GC,5502,-1.12,-146.6,531.0,-9.3,264,5507,0.00,2.47,0.00,0.000,6,0.000,0.039,2127,2601,3415
$GC,5823,-1.12,-146.6,560.1,-9.3,280,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3415
$GC,6133,-1.12,-146.6,588.9,-9.2,295,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3415
$GC,6442,-1.12,-146.6,617.2,-9.2,310,6446,0.00,2.47,0.00,0.000,4,0.000,0.041,2127,1191,3415
$GC,6481,-1.17,-146.6,620.8,-9.4,311,6487,0.00,2.50,0.00,0.000,6,0.000,0.040,2127,2610,3415
$GC,6796,-1.17,-146.6,648.1,-8.5,327,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2610,3415
$GC,7106,-1.17,-146.6,673.7,-8.1,342,7109,0.00,2.50,0.00,0.000,4,0.000,0.042,2127,1188,3414
$GC,7151,-1.21,-146.6,677.5,-8.4,344,7156,0.15,2.50,0.00,0.000,6,0.046,0.040,2084,2609,3415
$GC,7478,-1.10,-146.6,712.8,-11.0,360,7480,0.17,0.00,0.00,0.000,6,0.099,0.000,2117,2609,3415
$GC,7787,-1.10,-146.6,741.9,-9.5,375,7791,0.00,2.53,0.00,0.000,4,0.000,0.043,2117,1184,3414
$GC,7831,-1.10,-146.6,746.1,-8.8,377,7836,0.00,2.50,0.00,0.000,6,0.000,0.041,2117,2599,3415
$GC,8155,-1.10,-146.6,776.8,-9.6,393,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2599,3414
$GC,8461,-1.10,-146.6,805.3,-8.8,408,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2599,3414
$GC,8771,-1.10,-146.6,830.1,-7.7,423,8775,0.00,2.50,0.00,0.000,4,0.000,0.044,2117,1188,3414
$GC,8833,-1.10,-146.6,834.8,-7.8,426,8837,0.00,2.50,0.00,0.000,6,0.000,0.042,2117,2600,3414
$GC,9159,-1.10,-146.6,859.5,-7.6,442,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2600,3414
$GC,9469,-1.10,-146.6,886.0,-9.2,457,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2600,3413
$GC,9778,-1.10,-146.6,915.5,-10.0,472,9782,0.00,2.50,0.00,0.000,4,0.000,0.045,2117,1191,3413
$GC,9817,-1.10,-146.6,919.1,-9.7,474,9822,0.00,2.50,0.00,0.000,6,0.000,0.044,2117,2599,3413
$GC,10143,-1.10,-146.6,945.3,-7.8,490,10147,0.00,2.40,0.00,0.000,4,0.000,0.079,2117,3868,3413
$GC,10298,-1.10,-146.6,959.2,-9.1,497,10301,0.00,2.20,0.00,0.000,6,0.000,0.035,2117,2598,3412
$GC,10630,-1.10,-146.6,987.8,-8.6,513,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2597,3412
$STATE,10668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10668,begin apogee
$GC,10676,-0.31,0.0,991.4,8.6,515,10812,0.85,0.00,132.12,1.194,6,0.104,0.000,2289,2295,2817
$STATE,10813,end apogee,CONTROL_FINISHED_OK
$STATE,10813,begin climb
$GC,10816,1.03,146.6,997.1,0.0,522,10961,1.35,2.65,134.73,1.183,4,0.071,0.058,2580,895,2218
$GC,11099,0.91,146.6,983.2,8.5,535,11104,0.12,2.55,0.00,0.000,6,0.097,0.043,2556,2307,2212
$GC,11427,0.85,169.2,960.3,6.7,551,11453,0.00,2.70,20.98,1.095,4,0.000,0.072,2556,3702,2126
$GC,11551,0.76,193.0,951.3,6.7,556,11582,0.17,2.47,23.33,1.101,6,0.101,0.037,2523,2305,2029
$GC,11912,0.85,223.3,931.7,6.5,574,11947,0.00,2.70,29.27,1.111,4,0.000,0.069,2523,3704,1906
$GC,12073,0.90,223.3,920.1,8.0,581,12078,0.15,2.50,0.00,0.000,6,0.052,0.036,2564,2298,1903
$GC,12394,0.90,223.3,893.3,8.2,597,12398,0.00,2.58,0.00,0.000,4,0.000,0.056,2564,890,1901
$GC,12438,0.90,223.3,889.3,8.6,599,12442,0.00,2.53,0.00,0.000,6,0.000,0.040,2564,2309,1899
$GC,12758,0.90,223.3,861.9,8.8,615,12763,0.00,2.62,0.00,0.000,4,0.000,0.068,2564,3707,1899
$GC,12815,0.84,223.3,856.7,9.6,617,12821,0.12,2.47,0.00,0.000,6,0.104,0.035,2542,2299,1899
$GC,13131,0.89,223.3,832.1,7.8,633,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2299,1899
$GC,13440,0.94,223.3,807.5,7.8,648,13442,0.10,0.00,0.00,0.000,6,0.056,0.000,2573,2298,1899
$GC,13749,0.94,223.3,780.5,8.7,663,13753,0.00,2.62,0.00,0.000,4,0.000,0.064,2573,3704,1899
$GC,13812,0.87,223.3,774.5,9.5,666,13817,0.12,2.47,0.00,0.000,6,0.099,0.033,2550,2289,1899
$GC,14138,0.87,223.3,747.6,7.9,682,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2289,1898
$GC,14448,0.87,223.3,723.6,7.8,697,14452,0.00,2.65,0.00,0.000,4,0.000,0.064,2550,3709,1899
$GC,14497,0.87,223.3,719.5,8.7,699,14501,0.00,2.45,0.00,0.000,6,0.000,0.032,2550,2297,1899
$GC,14813,0.87,231.1,696.2,7.2,714,14827,0.00,2.67,6.93,0.797,4,0.000,0.062,2550,3705,1875
$GC,14867,0.87,231.1,691.7,8.7,716,14871,0.00,2.45,0.00,0.000,6,0.000,0.031,2550,2301,1875
$GC,15188,0.87,231.1,666.5,7.6,732,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2301,1875
$GC,15498,0.88,233.1,643.3,7.4,747,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2300,1875
$GC,15807,0.88,233.1,618.6,8.2,762,15808,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2301,1875
$GC,16116,0.88,233.1,592.4,8.6,777,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2301,1875
$GC,16426,0.92,233.1,566.0,8.6,792,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2301,1875
$GC,16735,0.97,233.1,540.2,8.0,807,16740,0.00,2.58,0.00,0.000,4,0.000,0.061,2550,3702,1875
$GC,16780,0.97,233.1,536.1,8.4,809,16784,0.00,2.42,0.00,0.000,6,0.000,0.032,2550,2300,1875
$GC,17107,1.02,239.9,511.1,7.3,825,17120,0.15,0.00,10.30,0.774,6,0.047,0.000,2593,2300,1838
$GC,17416,0.96,239.9,483.9,8.7,840,17418,0.12,0.00,0.00,0.000,6,0.097,0.000,2570,2299,1837
$GC,17725,0.96,242.6,460.4,7.4,855,17731,0.00,0.00,4.10,0.541,6,0.000,0.000,2570,2299,1827
$GC,18034,0.96,242.6,435.4,8.2,870,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2299,1827
$GC,18343,0.96,242.6,408.5,9.0,885,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2299,1827
$GC,18652,0.96,242.6,380.0,9.4,900,18656,0.00,2.58,0.00,0.000,4,0.000,0.061,2570,3702,1827
$GC,18696,0.96,242.6,375.6,11.2,902,18700,0.00,2.45,0.00,0.000,6,0.000,0.031,2569,2292,1827
$GC,19017,0.96,242.6,345.0,9.5,918,19018,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,1827
$GC,19326,0.96,242.6,316.6,9.2,933,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2291,1827
$GC,19635,0.96,242.6,288.4,9.0,948,19637,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2291,1827
$GC,19944,0.96,242.6,261.9,8.2,963,19946,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2291,1827
$GC,20254,0.96,242.6,236.3,8.6,978,20255,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2291,1827
$GC,20563,0.96,242.6,210.5,8.5,993,20564,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2291,1827
$GC,20872,0.96,242.6,185.3,8.0,1008,20877,0.00,2.60,0.00,0.000,4,0.000,0.061,2569,3710,1827
$GC,20912,0.96,242.6,181.8,8.5,1010,20916,0.00,2.42,0.00,0.000,6,0.000,0.031,2569,2298,1827
$GC,21244,0.96,242.6,154.5,8.1,1026,21246,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2297,1827
$GC,21554,0.96,242.6,128.3,8.8,1041,21555,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2297,1827
$GC,21863,0.96,242.6,102.3,7.7,1056,21864,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2298,1827
$GC,22172,0.98,258.7,81.8,7.0,1071,22192,0.00,0.00,15.25,0.570,6,0.000,0.000,2569,2298,1761
$GC,22503,1.03,258.7,53.5,8.5,1087,22504,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2298,1760
$GC,22811,1.08,258.7,29.1,8.9,1102,22816,0.12,2.50,0.00,0.000,4,0.047,0.048,2602,898,1759
$GC,22900,1.03,258.7,19.6,11.2,1106,22905,0.00,2.42,0.00,0.000,6,0.000,0.032,2602,2307,1758
$STATE,23081,end climb,SURFACE_DEPTH_REACHED
$STATE,23081,begin surface coast
$FINISH,0.7,1.026694
$STATE,23103,end surface coast,CONTROL_FINISHED_OK
$STATE,23103,begin surface
$SM_CCo,23186,0.00,0.000,0,0,1755,260.02
$SM_GC,1.34,11.77,0.00,0.00,0.077,0.000,0.000,73,2598,1755,-10.45,-0.06,260.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1713
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.5,15.872
$10V_AH,10.1,7.048
$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,27.700,126.550,377.000,0.000,0.000,18.003,27.132,212.649,8.750,0.000,0.000,14.707,1980.162,18264.592,490.759,2255.512,569.635,0.000,1595.412,0.000,2202.887,0.000,59.235,0.000
$DEVICE_MAMPS,184.080,79.001,1194.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,819.456,762.110,600.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56879,1116
$CAP_FILE_SIZE,151286,0
$CFSIZE,260165632,254550016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170609,010237,6200.595,-1107.624,33,1.2,34,-10.6