version: 66.03
glider: 16
mission: 9
dive: 73
start: 6 22 108 16 36 38
data:
$ID,16
$MISSION,9
$DIVE,73
$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,-2094264.5
$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,15
$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
$GPS1,162955,6113.346,-734.901,25,1.5,43,-8.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-56.5
$GPS2,163544,6113.354,-734.840,11,1.5,11,-8.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.087
$KALMAN_X,-91554.3,493.0,-1412.2,-32162.1,6359.1
$KALMAN_Y,-56237.4,-585.6,-2396.6,106790.9,12348.9
$MHEAD_RNG_PITCHd_Wd,289.7,15587,-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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.57,0.000,2,0.000,0.000,68,2303,2966
$GC,150,-0.85,-146.6,4.0,-3.2,6,180,11.43,2.72,-9.80,0.000,4,0.170,0.089,2107,3715,3379
$GC,433,-0.65,-146.6,44.8,-15.0,18,440,0.25,2.62,0.00,0.000,6,0.094,0.061,2156,2298,3378
$GC,751,-0.60,-146.6,81.0,-11.3,34,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2298,3379
$GC,1058,-0.60,-146.6,115.5,-10.9,49,1062,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,874,3379
$GC,1135,-0.60,-146.6,124.6,-10.9,52,1142,0.00,2.65,0.00,0.000,6,0.000,0.059,2156,2301,3379
$GC,1451,-0.60,-146.6,157.3,-10.0,68,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3379
$GC,1760,-0.60,-146.6,182.9,-7.3,83,1764,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,880,3379
$GC,1804,-0.60,-146.6,186.2,-7.0,85,1808,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2304,3379
$GC,2125,-0.60,-146.6,208.3,-6.7,101,2130,0.00,2.70,0.00,0.000,4,0.000,0.071,2156,874,3379
$GC,2170,-0.60,-146.6,211.6,-6.9,103,2174,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2300,3379
$GC,2490,-0.60,-146.6,233.6,-6.9,119,2494,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,877,3379
$GC,2530,-0.60,-146.6,236.4,-7.0,121,2535,0.00,2.65,0.00,0.000,6,0.000,0.059,2155,2300,3379
$GC,2857,-0.60,-146.6,259.6,-7.4,137,2861,0.00,2.67,0.00,0.000,4,0.000,0.072,2156,880,3379
$GC,2906,-0.60,-146.6,263.4,-7.4,139,2911,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2307,3378
$GC,3222,-0.60,-146.6,288.2,-8.1,154,3227,0.00,2.70,0.00,0.000,4,0.000,0.072,2156,880,3379
$GC,3284,-0.60,-146.6,293.1,-8.3,157,3288,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2302,3379
$GC,3610,-0.60,-146.6,316.6,-7.1,173,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3379
$GC,3920,-0.60,-146.6,334.3,-4.6,188,3924,0.00,2.67,0.00,0.000,4,0.000,0.073,2156,880,3379
$GC,3992,-0.60,-146.6,337.5,-4.5,191,3996,0.00,2.62,0.00,0.000,6,0.000,0.059,2156,2304,3379
$GC,4309,-0.60,-146.6,351.1,-4.6,206,4313,0.00,2.67,0.00,0.000,4,0.000,0.072,2156,880,3379
$GC,4353,-0.60,-146.6,353.6,-4.9,208,4357,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2301,3379
$GC,4674,-0.60,-146.6,370.4,-5.2,224,4678,0.00,2.67,0.00,0.000,4,0.000,0.072,2156,881,3378
$GC,4714,-0.60,-146.6,372.4,-5.5,226,4718,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2302,3378
$GC,5040,-0.60,-146.6,394.2,-7.7,242,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3378
$GC,5349,-0.60,-146.6,419.3,-7.8,257,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3378
$GC,5659,-0.60,-146.6,442.2,-8.2,272,5663,0.00,2.67,0.00,0.000,4,0.000,0.072,2156,881,3378
$GC,5744,-0.65,-146.6,449.6,-9.2,276,5748,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2302,3378
$GC,6075,-0.65,-146.6,478.7,-8.9,292,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3378
$GC,6385,-0.65,-146.6,505.0,-7.8,307,6389,0.00,2.70,0.00,0.000,4,0.000,0.074,2156,878,3378
$GC,6474,-0.73,-146.6,511.2,-6.4,311,6479,0.00,2.65,0.00,0.000,6,0.000,0.061,2156,2302,3378
$GC,6795,-0.73,-146.6,528.6,-4.8,327,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2302,3377
$GC,7104,-0.73,-146.6,544.6,-5.5,342,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2303,3377
$GC,7413,-0.73,-146.6,563.6,-6.5,357,7417,0.00,2.70,0.00,0.000,4,0.000,0.077,2156,883,3376
$GC,7457,-0.78,-146.6,566.9,-7.5,359,7463,0.12,2.65,0.00,0.000,6,0.051,0.064,2118,2298,3376
$GC,7779,-0.68,-146.6,596.1,-9.5,375,7781,0.17,0.00,0.00,0.000,6,0.093,0.000,2152,2298,3376
$GC,8088,-0.68,-146.6,622.2,-8.2,390,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2298,3373
$GC,8397,-0.68,-146.6,649.7,-8.9,405,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2298,3373
$GC,8707,-0.68,-146.6,676.0,-8.1,420,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2298,3372
$GC,9016,-0.68,-146.6,698.5,-7.3,435,9020,0.00,2.72,0.00,0.000,4,0.000,0.081,2151,879,3370
$GC,9055,-0.73,-146.6,701.3,-7.5,437,9060,0.00,2.65,0.00,0.000,6,0.000,0.067,2152,2299,3370
$GC,9383,-0.73,-146.6,722.5,-5.6,453,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2300,3368
$GC,9692,-0.73,-146.6,742.0,-6.3,468,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2300,3367
$GC,10001,-0.73,-146.6,760.1,-6.0,483,10005,0.00,2.72,0.00,0.000,4,0.000,0.081,2152,886,3366
$GC,10041,-0.79,-146.6,762.6,-6.4,485,10046,0.12,2.67,0.00,0.000,6,0.058,0.067,2118,2305,3366
$GC,10371,-0.69,-146.6,787.6,-7.8,501,10373,0.15,0.00,0.00,0.000,6,0.104,0.000,2145,2305,3365
$STATE,10427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10427,begin apogee
$GC,10434,-0.31,0.0,792.1,7.5,504,10570,0.43,0.00,131.60,1.225,6,0.105,0.000,2229,2199,2781
$STATE,10571,end apogee,CONTROL_FINISHED_OK
$STATE,10571,begin climb
$GC,10574,0.85,146.6,797.7,0.0,511,10711,1.23,0.00,133.60,1.204,6,0.086,0.000,2480,2199,2183
$GC,11022,0.88,177.7,779.7,5.1,533,11056,0.00,2.88,29.23,1.157,4,0.000,0.094,2480,3617,2056
$GC,11135,0.88,177.7,772.7,6.8,538,11140,0.00,2.75,0.00,0.000,6,0.000,0.077,2480,2202,2056
$GC,11456,0.89,190.7,753.6,5.6,554,11475,0.00,0.00,13.27,1.085,6,0.000,0.000,2480,2202,2003
$GC,11785,0.90,197.5,734.0,5.8,570,11799,0.00,2.85,7.70,0.986,4,0.000,0.092,2480,3611,1975
$GC,11840,0.90,197.5,730.2,6.6,572,11844,0.00,2.72,0.00,0.000,6,0.000,0.074,2480,2199,1975
$GC,12155,0.90,200.6,709.9,5.9,587,12162,0.00,0.00,4.45,0.799,6,0.000,0.000,2480,2199,1963
$GC,12465,0.91,203.1,692.0,5.9,602,12474,0.00,2.83,4.00,0.751,4,0.000,0.093,2480,3618,1953
$GC,12514,0.92,215.3,689.2,5.7,604,12533,0.00,2.72,12.57,1.058,6,0.000,0.075,2480,2199,1903
$GC,12865,0.98,225.3,670.0,5.7,621,12882,0.15,0.00,10.55,1.029,6,0.064,0.000,2514,2199,1862
$GC,13191,0.98,225.3,644.5,8.1,637,13196,0.00,2.80,0.00,0.000,4,0.000,0.094,2514,3611,1862
$GC,13224,0.93,225.3,641.3,8.7,638,13230,0.00,2.70,0.00,0.000,6,0.000,0.076,2515,2199,1862
$GC,13539,0.93,225.3,612.3,9.6,654,13544,0.00,2.80,0.00,0.000,4,0.000,0.093,2515,3615,1861
$GC,13584,0.87,225.3,607.6,10.4,656,13589,0.15,2.70,0.00,0.000,6,0.104,0.076,2486,2200,1861
$GC,13905,0.87,225.3,577.6,9.0,672,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2200,1861
$GC,14214,0.87,225.3,548.2,9.9,687,14219,0.00,2.80,0.00,0.000,4,0.000,0.093,2486,3616,1860
$GC,14292,0.87,225.3,540.2,10.0,690,14298,0.00,2.70,0.00,0.000,6,0.000,0.077,2486,2200,1860
$GC,14608,0.87,225.3,512.7,7.6,706,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2199,1860
$GC,14917,0.87,225.3,488.6,7.4,721,14921,0.00,2.78,0.00,0.000,4,0.000,0.092,2486,3613,1860
$GC,14956,0.87,225.3,485.7,7.6,723,14961,0.00,2.70,0.00,0.000,6,0.000,0.075,2486,2200,1859
$GC,15283,0.91,264.1,466.9,4.9,739,15326,0.00,2.83,34.20,1.022,4,0.000,0.081,2485,789,1704
$GC,15376,0.95,264.1,462.0,6.0,743,15381,0.00,2.67,0.00,0.000,6,0.000,0.061,2485,2201,1703
$GC,15697,1.00,307.3,445.9,4.8,759,15738,0.15,0.00,38.38,1.006,6,0.057,0.000,2520,2201,1528
$GC,16047,1.00,307.3,418.6,8.8,776,16051,0.00,2.75,0.00,0.000,4,0.000,0.089,2520,3613,1528
$GC,16080,1.00,307.3,415.2,9.8,777,16086,0.00,2.72,0.00,0.000,6,0.000,0.074,2520,2196,1528
$GC,16395,0.94,307.3,381.0,11.7,793,16397,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2196,1528
$GC,16704,0.94,307.3,343.5,11.4,808,16709,0.00,2.70,0.00,0.000,4,0.000,0.078,2520,782,1528
$GC,16749,0.94,307.3,338.7,11.2,810,16753,0.00,2.65,0.00,0.000,6,0.000,0.058,2520,2204,1528
$GC,17070,0.94,307.3,308.3,8.9,826,17074,0.00,2.72,0.00,0.000,4,0.000,0.084,2520,3614,1529
$GC,17109,0.94,307.3,304.5,10.2,828,17114,0.00,2.70,0.00,0.000,6,0.000,0.072,2520,2200,1530
$GC,17436,0.94,307.3,277.5,7.8,844,17437,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1530
$GC,17745,0.94,307.3,252.4,8.2,859,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1530
$GC,18054,0.94,307.3,228.4,7.8,874,18055,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2200,1531
$GC,18363,0.94,307.3,204.0,8.0,889,18368,0.00,2.72,0.00,0.000,4,0.000,0.081,2520,3614,1532
$GC,18391,0.94,307.3,201.6,8.4,890,18395,0.00,2.67,0.00,0.000,6,0.000,0.070,2520,2201,1532
$GC,18707,0.95,310.8,180.2,5.9,905,18718,0.00,2.70,6.05,0.623,4,0.000,0.072,2521,780,1512
$GC,18751,0.95,310.8,177.4,6.8,907,18756,0.00,2.65,0.00,0.000,6,0.000,0.054,2520,2209,1512
$GC,19073,0.95,310.8,157.5,6.5,923,19077,0.00,2.70,0.00,0.000,4,0.000,0.081,2520,3619,1512
$GC,19105,0.95,310.8,155.3,6.7,924,19111,0.00,2.67,0.00,0.000,6,0.000,0.069,2520,2200,1513
$GC,19422,0.95,310.8,135.7,6.4,940,19426,0.00,2.67,0.00,0.000,4,0.000,0.072,2520,780,1513
$GC,19449,0.95,310.8,133.9,7.4,941,19453,0.00,2.62,0.00,0.000,6,0.000,0.054,2520,2206,1513
$GC,19765,0.95,310.8,111.8,6.8,956,19766,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2206,1514
$GC,20074,0.95,310.8,91.6,6.2,971,20075,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2206,1515
$GC,20383,0.95,310.8,72.2,6.8,986,20385,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2206,1515
$GC,20694,0.95,310.8,50.1,7.6,1001,20695,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2206,1515
$GC,21002,0.95,310.8,27.6,7.4,1016,21003,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2204,1516
$GC,21311,0.95,310.8,4.1,7.5,1031,21312,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2206,1516
$STATE,21349,end climb,SURFACE_DEPTH_REACHED
$STATE,21349,begin surface coast
$FINISH,0.5,1.019290
$STATE,21371,end surface coast,CONTROL_FINISHED_OK
$STATE,21371,begin surface
$SM_CCo,21393,119.78,0.627,0,0,508,557.32
$SM_GC,1.22,0.00,0.00,119.78,0.000,0.000,0.627,66,2310,508,-10.27,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1844
$TCM_TEMP,17.70
$XPDR_PINGS,53
$ALTIM_TOP_PING,18.5,16.7
$ALTIM_BOTTOM_PING,776.3,24.3
$24V_AH,23.5,15.070
$10V_AH,10.1,7.657
$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,24.875,162.300,425.600,119.775,0.000,18.084,28.441,179.796,20.250,0.000,0.000,10.990,1861.189,16572.240,763.085,2114.260,551.307,33.349,1816.098,0.000,2074.949,0.000,47.661
$DEVICE_MAMPS,169.507,93.574,1224.899,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.361,705.982,590.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53625,1034
$CAP_FILE_SIZE,147555,0
$CFSIZE,260165632,253607936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220608,223652,6115.752,-737.923,40,5.8,60,-8.4