version: 66.04
glider: 16
mission: 13
dive: 74
start: 6 18 109 3 7 56
data:
$ID,16
$MISSION,13
$DIVE,74
$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,-2108921.2
$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,34
$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
$GPS1,030207,6204.035,-1136.270,39,0.8,46,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.0
$GPS2,030738,6204.072,-1136.347,10,1.8,10,-10.8
$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,7.1,48120,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,2,0.000,0.000,76,2605,3337
$GC,82,-1.03,-146.6,5.3,-9.4,3,104,11.75,2.55,-1.30,0.000,4,0.180,0.053,2130,1196,3416
$GC,330,-1.03,-146.6,42.6,-9.6,14,334,0.00,2.47,0.00,0.000,6,0.000,0.037,2130,2601,3418
$GC,657,-1.03,-146.6,76.1,-9.6,30,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,966,-1.03,-146.6,102.6,-8.5,45,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2601,3418
$GC,1275,-1.03,-146.6,129.8,-9.1,60,1279,0.00,2.35,0.00,0.000,4,0.000,0.068,2130,3865,3418
$GC,1316,-1.03,-146.6,133.9,-10.5,62,1320,0.00,2.15,0.00,0.000,6,0.000,0.029,2130,2588,3418
$GC,1648,-1.03,-146.6,166.3,-9.7,78,1652,0.00,2.42,0.00,0.000,4,0.000,0.041,2130,1208,3418
$GC,1675,-1.03,-146.6,168.9,-9.4,79,1679,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,1990,-1.03,-146.6,198.6,-9.3,94,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2301,-1.03,-146.6,226.0,-8.8,109,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,2609,-1.03,-146.6,253.8,-9.2,124,2613,0.00,2.45,0.00,0.000,4,0.000,0.041,2128,1207,3418
$GC,2665,-1.03,-146.6,258.9,-9.1,126,2671,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,2981,-1.03,-146.6,288.1,-9.6,142,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,3290,-1.03,-146.6,316.3,-9.0,157,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,3599,-1.03,-146.6,343.5,-8.6,172,3604,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1207,3418
$GC,3633,-1.03,-146.6,346.4,-8.6,173,3639,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2599,3418
$GC,3948,-1.03,-146.6,372.7,-8.1,189,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,4257,-1.03,-146.6,398.1,-8.5,204,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2599,3418
$GC,4568,-1.03,-146.6,425.1,-9.1,219,4572,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1207,3417
$GC,4617,-1.07,-146.6,429.9,-9.7,221,4622,0.00,2.45,0.00,0.000,6,0.000,0.039,2130,2600,3417
$GC,4934,-1.07,-146.6,457.8,-9.0,236,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3416
$GC,5243,-1.07,-146.6,486.5,-9.4,251,5247,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1207,3416
$GC,5298,-1.11,-146.6,492.0,-9.8,253,5304,0.00,2.45,0.00,0.000,6,0.000,0.039,2130,2599,3416
$GC,5614,-1.11,-146.6,522.5,-9.7,269,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2599,3416
$GC,5923,-1.11,-146.6,552.3,-9.7,284,5927,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1207,3416
$GC,5974,-1.16,-146.6,557.3,-10.0,286,5979,0.12,2.45,0.00,0.000,6,0.048,0.039,2091,2601,3416
$GC,6290,-1.05,-146.6,592.8,-11.4,301,6292,0.20,0.00,0.00,0.000,6,0.097,0.000,2130,2601,3416
$GC,6599,-1.05,-146.6,620.6,-8.9,316,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3416
$GC,6908,-1.05,-146.6,647.4,-8.4,331,6912,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1206,3415
$GC,6969,-1.10,-146.6,652.6,-8.0,333,6975,0.00,2.45,0.00,0.000,6,0.000,0.040,2130,2600,3416
$GC,7285,-1.10,-146.6,679.0,-8.4,349,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3415
$GC,7594,-1.10,-146.6,705.1,-8.7,364,7598,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1208,3415
$GC,7627,-1.15,-146.6,708.0,-8.9,365,7633,0.00,2.45,0.00,0.000,6,0.000,0.040,2130,2601,3415
$GC,7943,-1.15,-146.6,735.0,-8.3,381,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3415
$GC,8252,-1.15,-146.6,760.3,-8.0,396,8256,0.00,2.45,0.00,0.000,4,0.000,0.043,2129,1208,3415
$GC,8309,-1.20,-146.6,764.7,-7.8,398,8314,0.15,2.47,0.00,0.000,6,0.047,0.041,2086,2609,3415
$GC,8625,-1.08,-146.6,796.2,-10.6,413,8626,0.20,0.00,0.00,0.000,6,0.097,0.000,2124,2609,3415
$GC,8933,-1.08,-146.6,823.8,-9.0,428,8937,0.00,2.47,0.00,0.000,4,0.000,0.044,2123,1208,3415
$GC,8984,-1.12,-146.6,828.4,-8.8,430,8988,0.00,2.47,0.00,0.000,6,0.000,0.042,2124,2604,3415
$GC,9305,-1.12,-146.6,853.8,-7.5,446,9310,0.00,2.47,0.00,0.000,4,0.000,0.044,2124,1209,3415
$GC,9339,-1.12,-146.6,856.4,-6.9,447,9345,0.00,2.47,0.00,0.000,6,0.000,0.043,2124,2604,3415
$GC,9655,-1.12,-146.6,878.8,-7.5,463,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3415
$GC,9964,-1.12,-146.6,907.5,-9.2,478,9968,0.00,2.47,0.00,0.000,4,0.000,0.046,2124,1209,3414
$GC,10098,-1.16,-146.6,918.6,-7.9,484,10103,0.00,2.47,0.00,0.000,6,0.000,0.044,2124,2601,3415
$GC,10420,-1.16,-146.6,942.3,-8.4,500,10424,0.00,2.47,0.00,0.000,4,0.000,0.045,2124,1208,3414
$GC,10470,-1.21,-146.6,946.6,-8.1,502,10475,0.12,2.47,0.00,0.000,6,0.050,0.043,2086,2600,3414
$GC,10795,-1.12,-146.6,976.8,-10.8,518,10797,0.15,0.00,0.00,0.000,6,0.097,0.000,2115,2600,3414
$STATE,10932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10939,-0.31,0.0,990.3,8.9,525,11076,0.85,0.00,133.50,1.186,6,0.100,0.000,2287,2303,2817
$STATE,11077,end apogee,CONTROL_FINISHED_OK
$STATE,11077,begin climb
$GC,11080,1.03,146.6,995.2,0.0,532,11225,1.35,2.60,135.07,1.179,4,0.069,0.050,2578,908,2218
$GC,11267,0.90,146.6,988.4,8.3,540,11274,0.12,2.50,0.00,0.000,6,0.097,0.041,2555,2302,2215
$GC,11583,0.81,146.6,964.1,8.2,556,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2303,2212
$GC,11892,0.73,146.6,939.3,7.8,571,11897,0.17,2.65,0.00,0.000,4,0.098,0.071,2517,3704,2211
$GC,11955,0.77,181.6,935.3,6.3,574,11997,0.00,2.45,32.15,1.113,6,0.000,0.035,2517,2312,2075
$GC,12308,0.89,227.5,915.3,5.9,591,12359,0.17,2.65,44.05,1.116,4,0.046,0.054,2566,901,1889
$GC,12387,0.85,227.5,908.4,9.6,594,12394,0.12,2.50,0.00,0.000,6,0.099,0.039,2543,2303,1884
$GC,12703,0.85,227.5,882.5,8.0,610,12707,0.00,2.55,0.00,0.000,4,0.000,0.051,2543,898,1882
$GC,12752,0.85,227.5,877.8,8.8,612,12757,0.00,2.50,0.00,0.000,6,0.000,0.039,2543,2302,1880
$GC,13068,0.85,231.3,852.4,7.4,627,13073,0.00,2.65,0.00,0.000,4,0.000,0.067,2543,3711,1879
$GC,13131,0.85,231.3,847.6,8.2,630,13135,0.00,2.47,0.00,0.000,6,0.000,0.034,2543,2302,1880
$GC,13464,0.88,260.5,825.2,6.5,646,13496,0.00,0.00,30.95,1.052,6,0.000,0.000,2543,2302,1755
$GC,13793,0.97,282.7,802.5,6.7,662,13817,0.12,0.00,22.17,1.013,6,0.048,0.000,2579,2302,1664
$GC,14121,0.97,282.7,774.1,8.6,678,14125,0.00,2.55,0.00,0.000,4,0.000,0.053,2579,897,1659
$GC,14172,0.97,282.7,769.2,9.8,680,14176,0.00,2.50,0.00,0.000,6,0.000,0.038,2579,2306,1658
$GC,14487,0.97,282.7,738.5,10.1,695,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2307,1658
$GC,14796,0.97,282.7,704.4,11.0,710,14801,0.00,2.55,0.00,0.000,4,0.000,0.048,2579,897,1658
$GC,14830,0.97,282.7,700.6,11.2,711,14836,0.00,2.47,0.00,0.000,6,0.000,0.038,2579,2302,1656
$GC,15145,0.97,282.7,668.0,9.9,727,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1656
$GC,15454,0.97,282.7,637.2,9.9,742,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1657
$GC,15763,0.97,282.7,607.1,9.7,757,15767,0.00,2.53,0.00,0.000,4,0.000,0.048,2579,895,1657
$GC,15815,0.97,282.7,601.8,10.4,759,15819,0.00,2.47,0.00,0.000,6,0.000,0.037,2579,2302,1656
$GC,16136,0.97,282.7,569.4,10.1,775,16137,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1656
$GC,16445,0.97,282.7,537.2,10.4,790,16446,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1656
$GC,16754,0.97,282.7,505.5,10.2,805,16759,0.00,2.53,0.00,0.000,4,0.000,0.047,2579,895,1656
$GC,16811,0.97,282.7,499.7,9.5,807,16817,0.00,2.47,0.00,0.000,6,0.000,0.036,2580,2307,1656
$GC,17127,0.97,282.7,468.1,9.9,823,17128,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2307,1656
$GC,17436,0.97,282.7,435.2,11.0,838,17441,0.00,2.53,0.00,0.000,4,0.000,0.046,2579,895,1656
$GC,17469,0.97,282.7,431.4,11.8,839,17476,0.00,2.47,0.00,0.000,6,0.000,0.036,2579,2308,1656
$GC,17785,0.97,282.7,397.0,11.0,855,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2308,1656
$GC,18094,0.97,282.7,363.6,10.7,870,18099,0.00,2.55,0.00,0.000,4,0.000,0.046,2579,889,1657
$GC,18144,0.97,282.7,358.0,11.1,872,18148,0.00,2.47,0.00,0.000,6,0.000,0.036,2579,2306,1656
$GC,18466,0.97,282.7,324.4,10.3,888,18467,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2307,1656
$GC,18775,0.97,282.7,293.5,9.8,903,18779,0.00,2.53,0.00,0.000,4,0.000,0.045,2579,895,1656
$GC,18837,0.97,282.7,287.3,10.1,906,18841,0.00,2.45,0.00,0.000,6,0.000,0.036,2579,2301,1656
$GC,19169,0.97,282.7,254.2,10.2,922,19170,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1656
$GC,19478,0.97,282.7,223.7,9.6,937,19480,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2302,1656
$GC,19787,0.97,282.7,195.6,8.6,952,19792,0.00,2.53,0.00,0.000,4,0.000,0.045,2579,891,1656
$GC,19832,0.97,282.7,191.6,10.3,954,19836,0.00,2.47,0.00,0.000,6,0.000,0.036,2579,2306,1656
$GC,20152,0.97,282.7,166.3,8.0,970,20154,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2307,1656
$GC,20462,0.97,282.7,134.9,11.2,985,20463,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2306,1656
$GC,20771,0.97,282.7,100.1,10.7,1000,20775,0.00,2.53,0.00,0.000,4,0.000,0.045,2579,892,1656
$GC,20821,0.97,282.7,94.6,10.8,1002,20825,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2302,1656
$GC,21143,0.97,282.7,66.7,8.2,1018,21147,0.00,2.53,0.00,0.000,4,0.000,0.044,2579,888,1656
$GC,21198,0.97,282.7,61.8,9.2,1020,21204,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2299,1656
$GC,21515,0.98,286.7,39.0,7.4,1036,21519,0.00,2.50,0.00,0.000,4,0.000,0.044,2579,893,1656
$GC,21582,1.02,286.7,33.3,8.9,1039,21586,0.00,2.45,0.00,0.000,6,0.000,0.035,2579,2299,1656
$GC,21904,1.08,286.7,4.9,8.6,1055,21913,0.00,2.53,3.83,0.376,4,0.000,0.044,2579,902,1648
$STATE,21924,end climb,SURFACE_DEPTH_REACHED
$STATE,21924,begin surface coast
$FINISH,0.8,1.026589
$STATE,21948,end surface coast,CONTROL_FINISHED_OK
$STATE,21948,begin surface
$SM_CCo,22034,0.00,0.000,0,0,1644,287.74
$SM_GC,1.63,11.88,0.00,0.00,0.086,0.000,0.000,72,2593,1644,-10.46,-0.20,287.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1724
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.5,16.584
$10V_AH,10.1,7.522
$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,27.500,159.950,401.725,0.000,0.000,18.053,27.740,165.349,8.500,0.000,0.000,12.562,1887.809,17211.305,537.643,2195.392,526.830,0.000,1637.050,0.000,2146.620,0.000,56.337,0.000
$DEVICE_MAMPS,180.245,70.564,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,764.216,731.435,568.165,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53703,1057
$CAP_FILE_SIZE,149227,0
$CFSIZE,260165632,254201856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180609,091625,6207.470,-1135.666,38,1.9,39,-10.9