version: 66.03
glider: 16
mission: 9
dive: 68
start: 6 21 108 7 39 8
data:
$ID,16
$MISSION,9
$DIVE,68
$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,-2094160.6
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,072926,6058.951,-730.615,39,1.9,39,-8.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.4
$GPS2,073814,6058.927,-730.594,11,2.0,16,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,0.217
$KALMAN_X,-109410.1,1789.3,2014.8,-15184.4,-12486.5
$KALMAN_Y,-66515.2,-367.9,910.7,86851.2,-4987.5
$MHEAD_RNG_PITCHd_Wd,335.6,35350,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-121.03,0.000,2,0.000,0.000,66,2308,2989
$GC,151,-0.85,-146.6,4.0,-3.3,6,178,11.40,2.70,-9.02,0.000,4,0.168,0.087,2107,3718,3379
$GC,223,-0.67,-146.6,16.6,-10.7,9,228,0.22,2.65,0.00,0.000,6,0.092,0.061,2152,2298,3379
$GC,539,-0.61,-146.6,41.6,-8.2,24,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2298,3378
$GC,848,-0.54,-146.6,62.4,-6.6,39,850,0.15,0.00,0.00,0.000,6,0.092,0.000,2182,2298,3378
$GC,1159,-0.58,-146.6,81.4,-6.4,54,1164,0.00,2.65,0.00,0.000,4,0.000,0.071,2182,880,3378
$GC,1232,-0.68,-146.6,86.8,-7.4,57,1237,0.12,2.62,0.00,0.000,6,0.044,0.057,2137,2298,3378
$GC,1548,-0.59,-146.6,118.0,-10.2,72,1553,0.15,2.67,0.00,0.000,4,0.084,0.069,2170,877,3378
$GC,1634,-0.64,-146.6,125.5,-8.3,76,1639,0.00,2.62,0.00,0.000,6,0.000,0.056,2170,2304,3378
$GC,1964,-0.64,-146.6,151.1,-7.7,92,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2305,3378
$GC,2271,-0.64,-146.6,175.1,-7.9,107,2276,0.00,2.67,0.00,0.000,4,0.000,0.070,2170,880,3378
$GC,2357,-0.69,-146.6,182.0,-8.6,111,2361,0.00,2.65,0.00,0.000,6,0.000,0.057,2170,2310,3378
$GC,2683,-0.69,-146.6,207.3,-7.8,127,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2310,3378
$GC,2992,-0.69,-146.6,231.3,-7.7,142,2997,0.00,2.70,0.00,0.000,4,0.000,0.071,2171,874,3378
$GC,3070,-0.75,-146.6,237.5,-7.7,145,3077,0.17,2.62,0.00,0.000,6,0.041,0.058,2116,2298,3378
$GC,3387,-0.60,-146.6,267.4,-9.3,161,3389,0.25,0.00,0.00,0.000,6,0.085,0.000,2166,2298,3378
$GC,3696,-0.60,-146.6,285.8,-5.9,176,3701,0.00,2.67,0.00,0.000,4,0.000,0.071,2166,875,3378
$GC,3736,-0.66,-146.6,288.3,-6.1,178,3741,0.00,2.62,0.00,0.000,6,0.000,0.057,2166,2301,3378
$GC,4063,-0.66,-146.6,310.4,-7.4,194,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2301,3378
$GC,4372,-0.66,-146.6,334.0,-7.6,209,4377,0.00,2.67,0.00,0.000,4,0.000,0.071,2166,878,3378
$GC,4452,-0.72,-146.6,340.3,-7.4,212,4458,0.00,2.62,0.00,0.000,6,0.000,0.058,2166,2302,3377
$GC,4768,-0.72,-146.6,361.6,-6.2,228,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2303,3378
$GC,5077,-0.72,-146.6,379.0,-6.1,243,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3378
$GC,5386,-0.72,-146.6,398.7,-6.7,258,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2303,3377
$GC,5696,-0.72,-146.6,422.1,-7.3,273,5700,0.00,2.67,0.00,0.000,4,0.000,0.071,2166,876,3377
$GC,5741,-0.78,-146.6,425.4,-7.2,275,5746,0.17,2.62,0.00,0.000,6,0.041,0.057,2113,2299,3377
$GC,6064,-0.64,-146.6,450.7,-7.5,291,6069,0.20,2.67,0.00,0.000,4,0.087,0.072,2156,880,3377
$GC,6104,-0.69,-146.6,453.2,-5.2,293,6109,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2299,3376
$GC,6431,-0.69,-146.6,467.1,-4.8,309,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3377
$GC,6740,-0.69,-146.6,490.3,-8.2,324,6745,0.00,2.67,0.00,0.000,4,0.000,0.073,2156,881,3378
$GC,6813,-0.75,-146.6,496.6,-8.7,327,6818,0.00,2.62,0.00,0.000,6,0.000,0.060,2156,2298,3377
$GC,7129,-0.75,-146.6,522.1,-8.2,342,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3376
$GC,7438,-0.75,-146.6,548.2,-8.2,357,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3376
$GC,7747,-0.75,-146.6,571.7,-7.4,372,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3375
$GC,8057,-0.75,-146.6,590.6,-5.7,387,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3374
$GC,8366,-0.75,-146.6,609.7,-6.1,402,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3373
$GC,8675,-0.75,-146.6,627.8,-5.7,417,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3372
$GC,8984,-0.75,-146.6,645.9,-6.1,432,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3372
$GC,9294,-0.75,-146.6,666.2,-6.8,447,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3370
$GC,9603,-0.75,-146.6,686.4,-6.3,462,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3369
$GC,9912,-0.75,-146.6,705.3,-5.9,477,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3368
$GC,10222,-0.75,-146.6,723.3,-6.0,492,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2300,3367
$GC,10531,-0.75,-146.6,741.9,-6.6,507,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3365
$GC,10840,-0.75,-146.6,763.5,-6.2,522,10844,0.00,2.70,0.00,0.000,4,0.000,0.082,2156,885,3364
$GC,10880,-0.83,-146.6,766.0,-6.0,524,10885,0.17,2.65,0.00,0.000,6,0.054,0.069,2110,2298,3364
$GC,11209,-0.71,-146.6,795.2,-9.4,540,11211,0.17,0.00,0.00,0.000,6,0.102,0.000,2143,2299,3364
$GC,11516,-0.71,-146.6,815.9,-6.4,555,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2299,3362
$GC,11825,-0.71,-146.6,837.2,-5.8,570,11830,0.00,2.70,0.00,0.000,4,0.000,0.080,2143,886,3361
$GC,11910,-0.71,-146.6,843.2,-8.6,574,11915,0.00,2.65,0.00,0.000,6,0.000,0.068,2143,2300,3360
$STATE,12193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12193,begin apogee
$GC,12200,-0.31,0.0,861.7,5.6,588,12336,0.45,0.00,131.18,1.245,6,0.112,0.000,2230,2194,2782
$STATE,12336,end apogee,CONTROL_FINISHED_OK
$STATE,12336,begin climb
$GC,12339,0.85,146.6,866.8,0.0,595,12480,1.25,2.88,133.57,1.188,4,0.092,0.093,2483,3612,2183
$GC,12509,0.85,146.6,861.0,6.2,603,12515,0.00,2.72,0.00,0.000,6,0.000,0.072,2483,2202,2183
$GC,12825,0.84,194.4,846.2,4.7,619,12875,0.00,2.83,44.78,1.222,4,0.000,0.081,2483,783,1988
$GC,12987,0.84,194.4,838.0,7.9,626,12993,0.00,2.70,0.00,0.000,6,0.000,0.063,2483,2206,1987
$GC,13303,0.89,242.9,824.1,4.7,642,13354,0.00,2.83,45.47,1.222,4,0.000,0.087,2483,3615,1789
$GC,13416,0.89,242.9,816.8,9.4,647,13420,0.00,2.72,0.00,0.000,6,0.000,0.074,2483,2199,1789
$GC,13732,0.95,242.9,795.5,6.5,662,13734,0.12,0.00,0.00,0.000,6,0.067,0.000,2512,2199,1788
$GC,14041,0.90,242.9,769.3,9.3,677,14043,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2199,1788
$GC,14350,0.90,242.9,737.7,9.6,692,14354,0.00,2.78,0.00,0.000,4,0.000,0.092,2512,3612,1788
$GC,14405,0.85,242.9,732.8,9.1,694,14412,0.15,2.70,0.00,0.000,6,0.104,0.074,2483,2199,1788
$GC,14721,0.90,242.9,712.1,6.3,710,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2199,1787
$GC,15031,0.95,246.9,693.0,5.9,725,15038,0.10,0.00,4.88,0.844,6,0.066,0.000,2508,2199,1774
$GC,15339,0.95,246.9,672.4,7.1,740,15344,0.00,2.78,0.00,0.000,4,0.000,0.093,2509,3612,1774
$GC,15395,0.91,246.9,668.5,7.3,742,15401,0.00,2.70,0.00,0.000,6,0.000,0.075,2509,2202,1774
$GC,15710,0.91,246.9,649.0,6.2,758,15715,0.00,2.78,0.00,0.000,4,0.000,0.092,2509,3616,1773
$GC,15760,0.91,246.9,645.3,7.5,760,15764,0.00,2.72,0.00,0.000,6,0.000,0.075,2509,2192,1773
$GC,16076,0.91,246.9,624.0,6.9,775,16077,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2192,1773
$GC,16385,0.91,246.9,602.7,7.4,790,16389,0.00,2.80,0.00,0.000,4,0.000,0.093,2509,3619,1773
$GC,16434,0.91,246.9,598.4,9.4,792,16439,0.00,2.70,0.00,0.000,6,0.000,0.075,2509,2203,1772
$GC,16750,0.91,246.9,573.0,7.9,807,16754,0.00,2.72,0.00,0.000,4,0.000,0.084,2509,783,1773
$GC,16782,0.91,246.9,570.4,7.8,808,16788,0.00,2.67,0.00,0.000,6,0.000,0.064,2509,2204,1772
$GC,17098,0.91,246.9,549.6,6.3,824,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2204,1772
$GC,17407,0.91,246.9,530.6,6.4,839,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2204,1772
$GC,17717,0.95,289.7,514.3,4.8,854,17761,0.00,2.83,38.20,1.057,4,0.000,0.078,2509,790,1600
$GC,17803,0.99,323.1,509.8,5.1,858,17839,0.00,2.67,30.73,1.042,6,0.000,0.062,2508,2200,1463
$GC,18149,1.05,381.4,493.6,4.4,874,18203,0.00,0.00,51.60,1.039,6,0.000,0.000,2509,2201,1226
$GC,18501,1.10,381.4,472.0,7.2,891,18506,0.15,2.72,0.00,0.000,4,0.077,0.078,2545,782,1225
$GC,18551,1.06,381.4,467.2,9.5,893,18556,0.00,2.65,0.00,0.000,6,0.000,0.059,2545,2201,1225
$GC,18867,1.01,381.4,434.7,10.6,908,18869,0.12,0.00,0.00,0.000,6,0.097,0.000,2522,2201,1225
$GC,19176,1.01,381.4,405.3,9.5,923,19180,0.00,2.72,0.00,0.000,4,0.000,0.076,2522,781,1226
$GC,19231,1.01,381.4,399.8,9.0,925,19238,0.00,2.65,0.00,0.000,6,0.000,0.058,2522,2208,1226
$GC,19547,1.01,381.4,367.5,9.9,941,19548,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2208,1227
$GC,19856,1.01,381.4,339.9,9.0,956,19861,0.00,2.72,0.00,0.000,4,0.000,0.074,2522,781,1228
$GC,19907,1.05,381.4,334.8,9.9,958,19911,0.00,2.62,0.00,0.000,6,0.000,0.056,2522,2200,1228
$GC,20222,1.05,381.4,305.7,9.1,973,20223,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2200,1229
$GC,20532,1.05,381.4,276.9,9.7,988,20536,0.00,2.70,0.00,0.000,4,0.000,0.073,2522,771,1230
$GC,20564,1.05,381.4,273.6,9.3,989,20570,0.00,2.62,0.00,0.000,6,0.000,0.054,2522,2201,1230
$GC,20880,1.05,381.4,242.7,10.0,1005,20881,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2202,1230
$GC,21189,1.05,381.4,211.5,10.0,1020,21193,0.00,2.67,0.00,0.000,4,0.000,0.071,2522,779,1231
$GC,21251,1.05,381.4,205.0,10.9,1023,21255,0.00,2.62,0.00,0.000,6,0.000,0.054,2522,2206,1231
$GC,21577,1.05,381.4,171.8,10.0,1039,21578,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2206,1231
$GC,21887,1.05,381.4,142.4,9.8,1054,21891,0.00,2.70,0.00,0.000,4,0.000,0.071,2522,778,1232
$GC,21953,1.05,381.4,135.8,9.6,1057,21958,0.00,2.62,0.00,0.000,6,0.000,0.054,2521,2209,1232
$GC,22274,1.05,381.4,104.9,9.6,1073,22275,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2208,1233
$GC,22583,1.05,381.4,76.2,8.9,1088,22584,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2208,1233
$GC,22893,1.05,381.4,46.9,10.0,1103,22902,0.00,2.72,3.45,0.426,4,0.000,0.070,2521,776,1226
$GC,22964,1.10,381.4,40.0,8.8,1106,22969,0.00,2.62,0.00,0.000,6,0.000,0.053,2522,2206,1226
$GC,23287,1.15,381.4,10.2,8.8,1122,23289,0.12,0.00,0.00,0.000,6,0.046,0.000,2554,2205,1227
$STATE,23367,end climb,SURFACE_DEPTH_REACHED
$STATE,23367,begin surface coast
$FINISH,0.7,1.027146
$STATE,23388,end surface coast,CONTROL_FINISHED_OK
$STATE,23388,begin surface
$SM_CCo,23409,86.07,0.630,0,0,508,557.32
$SM_GC,1.54,0.00,0.00,86.07,0.000,0.000,0.630,70,2301,508,-10.26,0.03,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1853
$TCM_TEMP,17.40
$XPDR_PINGS,52
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,851.2,20.3
$24V_AH,23.5,14.181
$10V_AH,10.1,7.157
$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,26.425,151.075,483.850,86.075,0.000,36.114,54.730,239.727,20.750,0.000,0.000,16.873,2001.921,18329.564,754.612,2272.671,663.287,33.346,1880.349,0.000,2220.247,0.000,54.560
$DEVICE_MAMPS,167.973,92.807,1244.841,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,834.827,769.482,620.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56874,1127
$CAP_FILE_SIZE,159457,0
$CFSIZE,260165632,253972480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,210608,141202,6102.077,-727.732,38,2.0,38,-8.2