version: 66.03
glider: 16
mission: 9
dive: 74
start: 6 22 108 22 43 29
data:
$ID,16
$MISSION,9
$DIVE,74
$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,-2094300.9
$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,18
$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
$GPS1,223652,6115.752,-737.923,40,5.8,60,-8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.3
$GPS2,224236,6115.800,-737.852,15,2.5,34,-8.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_2
$TGT_LATLONG,6115.000,-752.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.096,0.200
$KALMAN_X,-86710.1,-239.9,-1605.2,-38774.9,-43211.6
$KALMAN_Y,-52187.4,-835.3,987.0,104166.5,-11262.5
$MHEAD_RNG_PITCHd_Wd,271.7,12690,-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,20,begin dive
$GC,23,-0.85,-146.6,0.0,0.0,0,146,0.00,0.00,-120.88,0.000,2,0.000,0.000,65,2311,2946
$GC,150,-0.85,-146.6,3.8,-3.1,6,180,11.45,2.72,-10.48,0.000,4,0.170,0.089,2107,3712,3381
$GC,328,-0.65,-146.6,28.9,-13.0,14,333,0.25,2.65,0.00,0.000,6,0.094,0.064,2156,2299,3381
$GC,655,-0.61,-146.6,62.0,-9.0,30,659,0.00,2.67,0.00,0.000,4,0.000,0.071,2156,877,3381
$GC,721,-0.61,-146.6,68.0,-8.6,33,726,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2300,3381
$GC,1043,-0.56,-146.6,98.7,-9.6,49,1048,0.00,2.67,0.00,0.000,4,0.000,0.067,2156,877,3381
$GC,1110,-0.56,-146.6,105.2,-9.9,52,1115,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2303,3381
$GC,1433,-0.56,-146.6,134.4,-9.0,68,1438,0.00,2.70,0.00,0.000,4,0.000,0.069,2156,871,3381
$GC,1466,-0.56,-146.6,137.6,-8.8,69,1473,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2302,3381
$GC,1783,-0.52,-146.6,165.0,-8.6,85,1784,0.15,0.00,0.00,0.000,6,0.096,0.000,2185,2302,3381
$GC,2092,-0.58,-146.6,184.9,-5.9,100,2096,0.00,2.70,0.00,0.000,4,0.000,0.070,2185,870,3381
$GC,2142,-0.69,-146.6,187.8,-5.8,102,2147,0.15,2.65,0.00,0.000,6,0.042,0.057,2135,2302,3381
$GC,2458,-0.58,-146.6,211.7,-7.6,117,2460,0.17,0.00,0.00,0.000,6,0.084,0.000,2170,2302,3381
$GC,2767,-0.58,-146.6,229.2,-5.3,132,2772,0.00,2.67,0.00,0.000,4,0.000,0.071,2171,878,3381
$GC,2812,-0.64,-146.6,231.7,-5.4,134,2817,0.00,2.65,0.00,0.000,6,0.000,0.058,2170,2305,3382
$GC,3133,-0.64,-146.6,249.7,-6.0,150,3138,0.00,2.70,0.00,0.000,4,0.000,0.071,2170,874,3381
$GC,3173,-0.70,-146.6,252.0,-5.9,152,3178,0.00,2.62,0.00,0.000,6,0.000,0.058,2170,2302,3381
$GC,3500,-0.70,-146.6,272.3,-6.5,168,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2302,3381
$GC,3809,-0.70,-146.6,292.1,-6.4,183,3813,0.00,2.70,0.00,0.000,4,0.000,0.071,2170,869,3381
$GC,3859,-0.76,-146.6,295.3,-6.0,185,3864,0.17,2.65,0.00,0.000,6,0.041,0.058,2116,2299,3381
$GC,4175,-0.61,-146.6,322.9,-8.9,200,4180,0.22,2.70,0.00,0.000,4,0.087,0.072,2164,873,3382
$GC,4215,-0.66,-146.6,325.6,-5.3,202,4220,0.00,2.62,0.00,0.000,6,0.000,0.059,2164,2300,3381
$GC,4542,-0.66,-146.6,346.0,-6.6,218,4546,0.00,2.67,0.00,0.000,4,0.000,0.071,2164,878,3381
$GC,4605,-0.71,-146.6,350.4,-7.3,221,4609,0.00,2.60,0.00,0.000,6,0.000,0.060,2164,2300,3381
$GC,4932,-0.71,-146.6,375.3,-7.8,237,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2300,3382
$GC,5240,-0.71,-146.6,398.6,-7.2,252,5245,0.00,2.67,0.00,0.000,4,0.000,0.071,2164,877,3381
$GC,5281,-0.77,-146.6,401.5,-7.0,254,5286,0.15,2.65,0.00,0.000,6,0.043,0.059,2117,2303,3381
$GC,5607,-0.63,-146.6,429.8,-8.4,270,5613,0.20,2.70,0.00,0.000,4,0.087,0.073,2161,878,3381
$GC,5635,-0.63,-146.6,431.8,-6.1,271,5639,0.00,2.65,0.00,0.000,6,0.000,0.059,2161,2306,3381
$GC,5951,-0.63,-146.6,452.1,-5.3,286,5956,0.00,2.70,0.00,0.000,4,0.000,0.084,2161,3712,3381
$GC,5991,-0.63,-146.6,454.5,-5.5,288,5996,0.00,2.65,0.00,0.000,6,0.000,0.065,2160,2294,3381
$GC,6318,-0.63,-146.6,471.3,-4.7,304,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2294,3381
$GC,6627,-0.63,-146.6,490.1,-6.3,319,6631,0.00,2.67,0.00,0.000,4,0.000,0.077,2161,884,3380
$GC,6682,-0.70,-146.6,493.6,-6.4,321,6689,0.00,2.65,0.00,0.000,6,0.000,0.062,2161,2302,3380
$GC,6998,-0.70,-146.6,512.2,-5.7,337,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3380
$GC,7308,-0.70,-146.6,529.7,-5.4,352,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3378
$GC,7617,-0.70,-146.6,544.5,-5.0,367,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3377
$GC,7926,-0.70,-146.6,559.8,-4.9,382,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2302,3377
$GC,8235,-0.70,-146.6,577.3,-5.6,397,8240,0.00,2.72,0.00,0.000,4,0.000,0.079,2161,884,3375
$GC,8280,-0.77,-146.6,580.1,-6.4,399,8285,0.15,2.67,0.00,0.000,6,0.051,0.067,2119,2302,3374
$GC,8602,-0.67,-146.6,606.5,-8.6,415,8607,0.15,2.72,0.00,0.000,4,0.097,0.081,2150,886,3373
$GC,8642,-0.71,-146.6,609.8,-8.0,417,8646,0.00,2.67,0.00,0.000,6,0.000,0.068,2151,2305,3372
$GC,8968,-0.71,-146.6,632.1,-6.7,433,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2305,3373
$GC,9277,-0.71,-146.6,653.1,-7.4,448,9278,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2305,3372
$GC,9587,-0.71,-146.6,674.7,-6.9,463,9594,0.00,2.72,0.00,0.000,4,0.000,0.081,2150,886,3370
$GC,9639,-0.75,-146.6,678.7,-7.9,465,9644,0.00,2.70,0.00,0.000,6,0.000,0.069,2150,2305,3369
$GC,9961,-0.75,-146.6,701.5,-6.8,481,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2307,3368
$GC,10271,-0.75,-146.6,722.0,-5.8,496,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2307,3367
$GC,10579,-0.75,-146.6,743.7,-6.9,511,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2307,3365
$GC,10889,-0.75,-146.6,764.8,-6.7,526,10893,0.00,2.72,0.00,0.000,4,0.000,0.082,2150,886,3365
$GC,10929,-0.81,-146.6,767.8,-7.8,528,10934,0.12,2.67,0.00,0.000,6,0.057,0.071,2116,2303,3364
$STATE,10986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10987,begin apogee
$GC,10993,-0.31,0.0,772.6,8.2,531,11128,0.57,0.00,131.50,1.227,6,0.106,0.000,2228,2199,2781
$STATE,11129,end apogee,CONTROL_FINISHED_OK
$STATE,11129,begin climb
$GC,11132,0.85,146.6,779.0,0.0,538,11269,1.25,0.00,133.32,1.198,6,0.091,0.000,2480,2199,2183
$GC,11578,0.90,194.6,763.1,4.7,560,11630,0.00,2.90,44.70,1.165,4,0.000,0.097,2480,3613,1988
$GC,11653,0.90,198.3,759.2,5.9,563,11663,0.00,2.75,5.12,0.843,6,0.000,0.076,2481,2204,1972
$GC,11985,0.92,218.2,740.2,5.5,580,12007,0.00,0.00,19.52,1.121,6,0.000,0.000,2479,2204,1891
$GC,12315,0.97,218.2,719.1,6.5,596,12320,0.15,2.83,0.00,0.000,4,0.077,0.094,2516,3620,1890
$GC,12371,0.92,218.2,714.6,7.7,598,12377,0.00,2.75,0.00,0.000,6,0.000,0.075,2517,2197,1890
$GC,12687,0.87,218.2,693.6,6.8,614,12689,0.15,0.00,0.00,0.000,6,0.104,0.000,2488,2197,1889
$GC,12996,0.87,222.7,675.8,5.9,629,13003,0.00,0.00,5.28,0.865,6,0.000,0.000,2488,2197,1873
$GC,13306,0.89,237.3,658.2,5.6,644,13326,0.00,0.00,14.57,1.073,6,0.000,0.000,2488,2197,1814
$GC,13636,0.94,237.3,637.6,6.5,660,13641,0.00,2.83,0.00,0.000,4,0.000,0.095,2488,3615,1813
$GC,13687,0.99,237.3,634.0,6.9,662,13692,0.12,2.72,0.00,0.000,6,0.060,0.076,2521,2201,1813
$GC,14002,0.99,237.3,609.0,8.1,677,14006,0.00,2.75,0.00,0.000,4,0.000,0.086,2521,785,1813
$GC,14035,0.94,237.3,606.0,8.7,678,14041,0.00,2.67,0.00,0.000,6,0.000,0.065,2521,2200,1813
$GC,14351,0.89,237.3,581.5,7.7,694,14353,0.15,0.00,0.00,0.000,6,0.096,0.000,2492,2201,1813
$GC,14660,0.89,237.3,559.6,7.0,709,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2200,1813
$GC,14969,0.89,237.3,538.8,6.6,724,14973,0.00,2.75,0.00,0.000,4,0.000,0.082,2491,779,1813
$GC,15013,0.89,237.3,535.8,6.7,726,15017,0.00,2.70,0.00,0.000,6,0.000,0.064,2491,2207,1813
$GC,15333,0.89,237.3,510.6,8.9,742,15338,0.00,2.78,0.00,0.000,4,0.000,0.094,2491,3614,1813
$GC,15388,0.89,237.3,505.2,9.2,744,15394,0.00,2.72,0.00,0.000,6,0.000,0.076,2492,2199,1813
$GC,15704,0.89,237.3,476.6,8.6,760,15709,0.00,2.78,0.00,0.000,4,0.000,0.091,2492,3611,1813
$GC,15760,0.89,237.3,471.5,9.3,762,15766,0.00,2.70,0.00,0.000,6,0.000,0.074,2492,2200,1812
$GC,16076,0.91,257.0,450.1,5.5,778,16096,0.00,0.00,18.12,0.975,6,0.000,0.000,2491,2200,1733
$GC,16406,0.99,330.6,436.4,4.0,794,16473,0.10,0.00,64.62,1.004,6,0.061,0.000,2521,2201,1432
$GC,16778,0.99,330.6,405.6,9.6,812,16783,0.00,2.78,0.00,0.000,4,0.000,0.088,2521,3612,1433
$GC,16834,0.99,330.6,399.9,10.5,814,16840,0.00,2.72,0.00,0.000,6,0.000,0.074,2521,2201,1433
$GC,17149,0.99,330.6,372.6,8.6,830,17153,0.00,2.72,0.00,0.000,4,0.000,0.078,2521,783,1433
$GC,17193,0.99,330.6,368.6,8.9,832,17197,0.00,2.65,0.00,0.000,6,0.000,0.058,2521,2204,1433
$GC,17513,0.99,330.6,338.6,9.9,848,17518,0.00,2.72,0.00,0.000,4,0.000,0.074,2521,782,1433
$GC,17546,0.99,330.6,335.1,9.6,849,17552,0.00,2.65,0.00,0.000,6,0.000,0.055,2521,2206,1433
$GC,17862,0.99,330.6,302.2,10.5,865,17866,0.00,2.72,0.00,0.000,4,0.000,0.083,2521,3619,1435
$GC,17883,0.99,330.6,299.8,11.1,866,17887,0.00,2.70,0.00,0.000,6,0.000,0.071,2521,2200,1435
$GC,18204,0.99,330.6,269.8,8.8,882,18205,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2200,1436
$GC,18513,0.99,330.6,243.3,8.4,897,18517,0.00,2.67,0.00,0.000,4,0.000,0.074,2521,780,1437
$GC,18540,0.99,330.6,240.9,8.9,898,18544,0.00,2.62,0.00,0.000,6,0.000,0.054,2521,2203,1437
$GC,18855,0.99,330.6,212.8,9.0,913,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1437
$GC,19164,0.99,330.6,184.4,8.6,928,19166,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1438
$GC,19474,0.99,330.6,155.6,9.0,943,19475,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1439
$GC,19784,0.99,330.6,126.2,9.6,958,19785,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1440
$GC,20093,0.99,330.6,96.1,9.3,973,20094,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2203,1440
$GC,20403,0.99,330.6,71.9,7.3,988,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2203,1441
$GC,20711,0.99,330.6,46.1,8.6,1003,20716,0.00,2.70,0.00,0.000,4,0.000,0.079,2521,3616,1441
$GC,20752,0.99,330.6,42.4,9.6,1005,20761,0.00,2.67,3.45,0.420,6,0.000,0.066,2521,2193,1433
$GC,21083,0.99,330.6,16.8,7.5,1021,21084,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2193,1433
$STATE,21287,end climb,SURFACE_DEPTH_REACHED
$STATE,21287,begin surface coast
$FINISH,0.7,1.027198
$STATE,21309,end surface coast,CONTROL_FINISHED_OK
$STATE,21309,begin surface
$SM_CCo,21331,111.50,0.620,0,0,509,557.32
$SM_GC,1.35,0.00,0.00,111.50,0.000,0.000,0.620,71,2303,509,-10.25,0.08,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1834
$TCM_TEMP,17.60
$XPDR_PINGS,50
$ALTIM_TOP_PING,19.9,20.5
$ALTIM_BOTTOM_PING,725.1,56.6
$24V_AH,23.5,15.246
$10V_AH,10.1,7.751
$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,26.500,167.675,440.225,111.500,0.000,18.094,25.944,155.550,19.000,0.000,0.000,35.771,1854.242,16549.088,758.871,2108.753,515.082,33.342,1809.671,0.000,2040.511,0.000,44.515
$DEVICE_MAMPS,169.507,96.642,1227.200,619.736,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.144,703.838,580.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53677,1032
$CAP_FILE_SIZE,150688,0
$CFSIZE,260165632,253538304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230608,044208,6116.973,-741.854,36,2.0,37,-8.4