version: 66.03
glider: 16
mission: 9
dive: 71
start: 6 22 108 4 10 1
data:
$ID,16
$MISSION,9
$DIVE,71
$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,-2094236.8
$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,14
$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
$GPS1,040307,6108.849,-730.143,41,2.0,46,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-54.2
$GPS2,040908,6108.853,-730.025,15,2.0,32,-8.3
$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,-95144.5,1061.8,-4537.7,-21640.0,14780.5
$KALMAN_Y,-67804.9,275.4,-653.3,107425.2,-543.5
$MHEAD_RNG_PITCHd_Wd,308.5,22645,-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,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.65,0.000,2,0.000,0.000,64,2308,2950
$GC,150,-0.85,-146.6,3.9,-3.2,6,180,11.43,2.75,-10.40,0.000,4,0.168,0.088,2108,3713,3381
$GC,337,-0.65,-146.6,28.6,-11.4,14,342,0.25,2.62,0.00,0.000,6,0.093,0.061,2157,2297,3381
$GC,653,-0.65,-146.6,55.4,-8.5,29,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2296,3380
$GC,962,-0.65,-146.6,78.9,-7.5,44,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2296,3381
$GC,1271,-0.65,-146.6,101.9,-7.4,59,1276,0.00,2.65,0.00,0.000,4,0.000,0.071,2157,880,3380
$GC,1360,-0.65,-146.6,108.5,-7.0,63,1365,0.00,2.62,0.00,0.000,6,0.000,0.057,2158,2300,3380
$GC,1683,-0.65,-146.6,131.0,-6.9,79,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2300,3380
$GC,1991,-0.65,-146.6,152.6,-7.0,94,1995,0.00,2.67,0.00,0.000,4,0.000,0.067,2157,874,3380
$GC,2046,-0.65,-146.6,156.6,-7.4,96,2052,0.00,2.65,0.00,0.000,6,0.000,0.057,2157,2305,3381
$GC,2361,-0.65,-146.6,178.6,-7.1,112,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2305,3380
$GC,2670,-0.65,-146.6,201.5,-7.6,127,2675,0.00,2.67,0.00,0.000,4,0.000,0.068,2157,878,3380
$GC,2743,-0.65,-146.6,207.1,-7.1,130,2747,0.00,2.65,0.00,0.000,6,0.000,0.058,2157,2308,3380
$GC,3059,-0.65,-146.6,230.8,-7.5,145,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2308,3380
$GC,3368,-0.65,-146.6,257.1,-8.8,160,3372,0.00,2.67,0.00,0.000,4,0.000,0.070,2158,880,3380
$GC,3440,-0.65,-146.6,263.6,-8.9,163,3444,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2301,3381
$GC,3755,-0.65,-146.6,291.0,-8.5,178,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2302,3380
$GC,4064,-0.65,-146.6,316.0,-7.6,193,4069,0.00,2.67,0.00,0.000,4,0.000,0.069,2158,874,3380
$GC,4142,-0.65,-146.6,321.8,-7.2,196,4148,0.00,2.65,0.00,0.000,6,0.000,0.058,2158,2303,3380
$GC,4458,-0.65,-146.6,343.6,-6.6,212,4462,0.00,2.67,0.00,0.000,4,0.000,0.071,2158,880,3380
$GC,4507,-0.65,-146.6,346.9,-6.5,214,4512,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2301,3380
$GC,4823,-0.65,-146.6,367.0,-6.8,229,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3381
$GC,5132,-0.65,-146.6,389.5,-7.5,244,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2302,3380
$GC,5441,-0.65,-146.6,412.0,-7.1,259,5446,0.00,2.67,0.00,0.000,4,0.000,0.071,2157,880,3380
$GC,5509,-0.70,-146.6,417.0,-7.4,262,5513,0.00,2.62,0.00,0.000,6,0.000,0.058,2158,2301,3380
$GC,5829,-0.70,-146.6,437.8,-6.2,278,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2302,3380
$GC,6139,-0.70,-146.6,455.4,-5.2,293,6143,0.00,2.67,0.00,0.000,4,0.000,0.071,2158,880,3380
$GC,6195,-0.76,-146.6,458.5,-5.9,295,6202,0.12,2.62,0.00,0.000,6,0.048,0.060,2116,2301,3380
$GC,6511,-0.64,-146.6,480.2,-6.9,311,6516,0.17,2.72,0.00,0.000,4,0.087,0.086,2155,3713,3380
$GC,6561,-0.64,-146.6,483.3,-5.9,313,6566,0.00,2.62,0.00,0.000,6,0.000,0.065,2155,2298,3380
$GC,6877,-0.64,-146.6,502.1,-6.9,328,6881,0.00,2.67,0.00,0.000,4,0.000,0.076,2155,884,3380
$GC,6921,-0.64,-146.6,505.4,-7.5,330,6925,0.00,2.65,0.00,0.000,6,0.000,0.063,2155,2299,3380
$GC,7242,-0.64,-146.6,529.7,-7.7,346,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2299,3379
$GC,7551,-0.64,-146.6,553.3,-7.3,361,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2299,3378
$GC,7861,-0.64,-146.6,575.2,-6.6,376,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2300,3377
$GC,8170,-0.64,-146.6,594.7,-6.7,391,8174,0.00,2.70,0.00,0.000,4,0.000,0.078,2155,885,3376
$GC,8214,-0.69,-146.6,598.0,-7.2,393,8218,0.00,2.67,0.00,0.000,6,0.000,0.066,2154,2305,3375
$GC,8534,-0.69,-146.6,620.3,-7.0,409,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3374
$GC,8844,-0.69,-146.6,645.2,-9.5,424,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3373
$GC,9154,-0.69,-146.6,675.8,-10.0,439,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3372
$GC,9462,-0.69,-146.6,707.0,-10.2,454,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3371
$GC,9771,-0.69,-146.6,735.7,-9.1,469,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2305,3369
$GC,10081,-0.69,-146.6,761.3,-7.6,484,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2305,3368
$GC,10390,-0.69,-146.6,782.9,-7.2,499,10394,0.00,2.75,0.00,0.000,4,0.000,0.081,2154,880,3367
$GC,10430,-0.77,-146.6,786.0,-9.3,501,10435,0.00,2.67,0.00,0.000,6,0.000,0.070,2155,2301,3367
$GC,10756,-0.77,-146.6,810.2,-8.5,517,10761,0.00,2.72,0.00,0.000,4,0.000,0.081,2155,881,3366
$GC,10812,-0.86,-146.6,814.3,-7.4,519,10819,0.20,2.70,0.00,0.000,6,0.051,0.071,2103,2302,3366
$STATE,10857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10857,begin apogee
$GC,10864,-0.31,0.0,817.9,7.8,522,11001,0.65,0.00,133.02,1.248,6,0.107,0.000,2230,2196,2781
$STATE,11001,end apogee,CONTROL_FINISHED_OK
$STATE,11001,begin climb
$GC,11004,0.85,146.6,822.9,0.0,529,11149,1.23,2.95,135.27,1.223,4,0.087,0.096,2480,3613,2183
$GC,11202,0.91,202.3,819.6,4.5,538,11259,0.00,2.72,51.53,1.192,6,0.000,0.074,2480,2204,1956
$GC,11575,0.92,211.8,799.1,5.7,557,11590,0.00,2.83,10.00,1.052,4,0.000,0.084,2480,777,1917
$GC,11630,1.02,267.6,796.2,4.5,558,11690,0.20,2.70,51.90,1.191,6,0.068,0.065,2522,2199,1690
$GC,12006,1.02,267.6,767.7,7.2,577,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1689
$GC,12316,1.03,274.1,747.5,5.8,592,12325,0.00,0.00,7.47,0.989,6,0.000,0.000,2522,2198,1663
$GC,12625,1.03,274.1,727.7,6.3,607,12626,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2198,1663
$GC,12934,1.03,274.1,708.6,6.3,622,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1662
$GC,13244,1.03,274.1,689.3,6.1,637,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1662
$GC,13553,1.03,274.1,669.4,6.6,652,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1662
$GC,13862,1.03,274.1,648.7,6.8,667,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1662
$GC,14171,1.03,274.1,626.4,7.5,682,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2198,1661
$GC,14480,1.03,274.1,603.0,7.4,697,14485,0.00,2.78,0.00,0.000,4,0.000,0.097,2523,3610,1660
$GC,14525,0.99,274.1,599.2,9.3,699,14529,0.00,2.70,0.00,0.000,6,0.000,0.074,2523,2196,1660
$GC,14846,0.99,274.1,574.1,7.8,715,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1660
$GC,15155,0.99,274.1,548.9,8.1,730,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1659
$GC,15464,0.99,274.1,524.3,7.6,745,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1660
$GC,15773,0.99,274.1,500.8,7.5,760,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1660
$GC,16082,0.99,274.1,474.3,9.2,775,16087,0.00,2.80,0.00,0.000,4,0.000,0.094,2523,3619,1660
$GC,16132,0.99,274.1,469.5,9.8,777,16136,0.00,2.72,0.00,0.000,6,0.000,0.076,2523,2196,1660
$GC,16447,0.99,274.1,443.3,8.4,792,16452,0.00,2.72,0.00,0.000,4,0.000,0.081,2523,775,1659
$GC,16520,0.99,274.1,437.1,9.3,795,16524,0.00,2.67,0.00,0.000,6,0.000,0.063,2523,2199,1659
$GC,16835,0.99,274.1,414.1,7.2,810,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2199,1659
$GC,17145,0.99,274.1,395.5,6.1,825,17149,0.00,2.75,0.00,0.000,4,0.000,0.091,2523,3613,1659
$GC,17257,0.99,274.1,387.4,8.1,830,17262,0.00,2.70,0.00,0.000,6,0.000,0.074,2523,2197,1660
$GC,17579,0.99,274.1,365.5,7.2,846,17583,0.00,2.70,0.00,0.000,4,0.000,0.079,2523,782,1660
$GC,17628,0.99,274.1,361.5,8.7,848,17633,0.00,2.62,0.00,0.000,6,0.000,0.058,2523,2200,1660
$GC,17944,0.99,274.1,337.0,8.1,863,17948,0.00,2.75,0.00,0.000,4,0.000,0.087,2523,3618,1660
$GC,17976,0.99,274.1,334.0,8.8,864,17982,0.00,2.70,0.00,0.000,6,0.000,0.072,2523,2200,1661
$GC,18292,0.99,274.1,305.6,9.5,880,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,1661
$GC,18601,0.99,274.1,276.3,9.0,895,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,1662
$GC,18910,0.99,274.1,251.9,7.4,910,18915,0.00,2.75,0.00,0.000,4,0.000,0.084,2523,3620,1663
$GC,18961,0.99,274.1,248.0,7.3,912,18965,0.00,2.70,0.00,0.000,6,0.000,0.070,2523,2196,1663
$GC,19276,0.99,274.1,225.4,6.7,927,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,1665
$GC,19585,0.99,274.1,202.9,8.0,942,19586,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2196,1666
$GC,19895,0.99,274.1,177.7,8.4,957,19899,0.00,2.72,0.00,0.000,4,0.000,0.083,2523,3614,1667
$GC,19940,0.99,274.1,173.5,9.8,959,19944,0.00,2.67,0.00,0.000,6,0.000,0.069,2523,2199,1667
$GC,20260,0.99,274.1,149.0,7.4,975,20262,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2199,1667
$GC,20570,0.99,274.1,124.0,8.9,990,20571,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2199,1668
$GC,20881,0.99,274.1,88.7,12.9,1005,20885,0.00,2.72,0.00,0.000,4,0.000,0.082,2523,3615,1668
$GC,20930,0.99,274.1,81.3,14.6,1007,20935,0.00,2.67,0.00,0.000,6,0.000,0.068,2523,2194,1669
$GC,21248,0.99,274.1,45.7,10.1,1022,21249,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2194,1669
$GC,21555,0.99,274.1,17.3,8.3,1037,21560,0.00,2.65,0.00,0.000,4,0.000,0.071,2523,779,1669
$GC,21606,0.99,274.1,13.0,7.9,1039,21610,0.00,2.62,0.00,0.000,6,0.000,0.055,2523,2204,1669
$STATE,21754,end climb,SURFACE_DEPTH_REACHED
$STATE,21754,begin surface coast
$FINISH,0.6,1.017849
$STATE,21776,end surface coast,CONTROL_FINISHED_OK
$STATE,21776,begin surface
$SM_CCo,21798,137.62,0.624,0,0,507,557.32
$SM_GC,1.25,0.00,0.00,137.62,0.000,0.000,0.624,67,2309,507,-10.27,0.25,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1830
$TCM_TEMP,16.40
$XPDR_PINGS,51
$ALTIM_TOP_PING,18.8,18.0
$ALTIM_BOTTOM_PING,775.6,52.2
$24V_AH,23.5,14.724
$10V_AH,10.1,7.464
$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,24.875,140.475,389.200,137.625,0.000,18.103,26.705,166.127,19.750,0.000,0.000,32.153,1859.296,17053.930,719.539,2132.421,528.980,33.345,1758.699,0.000,2071.216,0.000,47.732
$DEVICE_MAMPS,167.973,96.642,1247.909,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.467,715.077,587.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53739,1047
$CAP_FILE_SIZE,141849,0
$CFSIZE,260165632,253755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220608,101656,6111.639,-732.530,38,1.1,38,-8.3