version: 66.04
glider: 16
mission: 13
dive: 70
start: 6 17 109 1 12 25
data:
$ID,16
$MISSION,13
$DIVE,70
$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,270
$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,-2108841
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,010237,6200.595,-1107.624,33,1.2,34,-10.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.3
$GPS2,011207,6200.667,-1107.674,13,1.4,13,-10.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6200.667,-1130.685
$TGT_RADIUS,1852.000
$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,280.6,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-56.58,0.000,6,0.000,0.000,72,2598,3416
$GC,80,-1.03,-146.6,6.4,-12.1,3,101,12.12,2.53,0.00,0.000,4,0.192,0.038,2129,1193,3417
$GC,242,-1.03,-146.6,38.2,-12.8,10,246,0.00,2.47,0.00,0.000,6,0.000,0.036,2130,2600,3417
$GC,563,-1.03,-146.6,71.4,-8.8,26,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,873,-1.03,-146.6,96.1,-7.7,41,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,1181,-1.03,-146.6,125.9,-10.7,56,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,1491,-1.03,-146.6,158.9,-10.5,71,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,1800,-1.03,-146.6,191.6,-10.4,86,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2109,-1.03,-146.6,222.9,-9.8,101,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2418,-1.03,-146.6,249.6,-7.9,116,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,2728,-1.03,-146.6,273.1,-7.9,131,2732,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3418
$GC,2773,-1.08,-146.6,276.7,-7.3,133,2777,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3417
$GC,3094,-1.08,-146.6,303.5,-8.0,149,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,3403,-1.08,-146.6,329.8,-8.7,164,3407,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3417
$GC,3447,-1.12,-146.6,333.6,-8.5,166,3452,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2601,3417
$GC,3768,-1.12,-146.6,362.2,-8.7,182,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3417
$GC,4078,-1.12,-146.6,389.5,-8.8,197,4082,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1195,3417
$GC,4140,-1.16,-146.6,394.9,-8.6,200,4146,0.10,2.47,0.00,0.000,6,0.054,0.039,2096,2608,3417
$GC,4470,-1.05,-146.6,428.3,-10.4,216,4472,0.17,0.00,0.00,0.000,6,0.100,0.000,2128,2608,3417
$GC,4777,-1.05,-146.6,454.8,-8.6,231,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2608,3417
$GC,5086,-1.05,-146.6,482.3,-8.7,246,5090,0.00,2.50,0.00,0.000,4,0.000,0.041,2128,1190,3417
$GC,5158,-1.05,-146.6,488.7,-9.0,249,5162,0.00,2.47,0.00,0.000,6,0.000,0.038,2128,2600,3416
$GC,5473,-1.05,-146.6,515.5,-8.6,264,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3416
$GC,5783,-1.05,-146.6,542.2,-8.5,279,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2600,3416
$GC,6092,-1.05,-146.6,568.9,-8.7,294,6096,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1191,3416
$GC,6136,-1.10,-146.6,572.9,-8.9,296,6140,0.00,2.47,0.00,0.000,6,0.000,0.039,2128,2604,3416
$GC,6462,-1.10,-146.6,602.1,-9.1,312,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2604,3416
$GC,6772,-1.10,-146.6,629.2,-8.7,327,6776,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1195,3416
$GC,6834,-1.15,-146.6,634.6,-8.8,330,6839,0.00,2.47,0.00,0.000,6,0.000,0.039,2128,2604,3416
$GC,7162,-1.15,-146.6,661.6,-8.0,346,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2603,3415
$GC,7471,-1.15,-146.6,684.3,-7.1,361,7476,0.00,2.47,0.00,0.000,4,0.000,0.041,2128,1195,3415
$GC,7512,-1.19,-146.6,687.2,-7.1,363,7517,0.12,2.47,0.00,0.000,6,0.051,0.040,2089,2601,3415
$GC,7839,-1.09,-146.6,718.8,-9.8,379,7841,0.17,0.00,0.00,0.000,6,0.100,0.000,2122,2602,3415
$GC,8148,-1.09,-146.6,745.4,-8.6,394,8152,0.00,2.47,0.00,0.000,4,0.000,0.042,2121,1195,3415
$GC,8203,-1.09,-146.6,750.5,-9.0,396,8209,0.00,2.47,0.00,0.000,6,0.000,0.041,2121,2600,3415
$GC,8519,-1.09,-146.6,779.0,-8.5,412,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3415
$GC,8828,-1.09,-146.6,807.0,-9.4,427,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3415
$GC,9138,-1.09,-146.6,835.9,-8.8,442,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3415
$GC,9447,-1.09,-146.6,864.0,-9.5,457,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3415
$GC,9756,-1.09,-146.6,892.2,-8.8,472,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3414
$GC,10065,-1.09,-146.6,917.0,-8.2,487,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2600,3414
$GC,10375,-1.09,-146.6,939.4,-6.8,502,10379,0.00,2.50,0.00,0.000,4,0.000,0.045,2121,1192,3414
$GC,10453,-1.14,-146.6,944.8,-6.7,505,10460,0.00,2.50,0.00,0.000,6,0.000,0.043,2122,2606,3414
$GC,10769,-1.14,-146.6,969.2,-7.8,521,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2607,3413
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11034,begin apogee
$GC,11041,-0.31,0.0,991.4,8.3,534,11178,0.88,0.00,132.93,1.190,6,0.136,0.000,2287,2293,2817
$STATE,11179,end apogee,CONTROL_FINISHED_OK
$STATE,11179,begin climb
$GC,11182,1.03,146.6,997.3,0.0,541,11327,1.38,2.58,134.80,1.183,4,0.076,0.051,2579,910,2218
$GC,11375,0.89,152.0,991.9,7.3,550,11387,0.12,2.50,5.75,0.848,6,0.097,0.041,2557,2302,2196
$GC,11705,0.82,152.0,964.9,8.8,566,11710,0.00,2.65,0.00,0.000,4,0.000,0.071,2557,3702,2193
$GC,11756,0.68,152.0,959.8,9.2,568,11761,0.25,2.47,0.00,0.000,6,0.097,0.035,2508,2303,2193
$GC,12071,0.75,152.0,935.5,7.5,583,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2303,2191
$GC,12381,0.90,220.2,917.2,5.2,598,12448,0.20,0.00,63.85,1.131,6,0.047,0.000,2564,2303,1919
$GC,12756,0.90,220.2,888.3,8.8,616,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2303,1912
$GC,13062,0.90,220.2,862.2,8.5,631,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2303,1910
$GC,13372,0.90,220.2,834.7,9.0,646,13376,0.00,2.65,0.00,0.000,4,0.000,0.066,2564,3708,1909
$GC,13467,0.84,220.2,825.1,9.9,650,13472,0.12,2.47,0.00,0.000,6,0.099,0.033,2541,2299,1909
$GC,13783,0.90,230.7,801.5,7.1,665,13794,0.00,0.00,9.25,0.915,6,0.000,0.000,2541,2299,1876
$GC,14092,0.95,230.7,778.5,7.9,680,14094,0.12,0.00,0.00,0.000,6,0.051,0.000,2580,2299,1874
$GC,14401,0.90,230.7,747.9,10.4,695,14403,0.12,0.00,0.00,0.000,6,0.092,0.000,2556,2299,1874
$GC,14710,0.90,230.7,718.9,8.7,710,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2299,1874
$GC,15019,0.90,230.7,692.7,8.5,725,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2299,1874
$GC,15329,0.90,230.7,665.6,8.7,740,15330,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2299,1874
$GC,15638,0.90,230.7,638.4,8.9,755,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2299,1874
$GC,15947,0.90,230.7,611.9,8.8,770,15948,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,1874
$GC,16257,0.90,230.7,584.8,8.8,785,16261,0.00,2.60,0.00,0.000,4,0.000,0.062,2556,3707,1874
$GC,16296,0.90,230.7,581.2,9.6,787,16301,0.00,2.45,0.00,0.000,6,0.000,0.031,2556,2298,1874
$GC,16623,0.90,230.7,552.3,8.8,803,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2298,1874
$GC,16932,0.90,230.7,525.1,8.7,818,16933,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,1874
$GC,17242,0.90,230.7,498.7,8.3,833,17243,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2298,1874
$GC,17551,0.90,230.7,474.2,7.6,848,17555,0.00,2.60,0.00,0.000,4,0.000,0.061,2556,3711,1873
$GC,17594,0.90,230.7,470.3,9.0,850,17599,0.00,2.45,0.00,0.000,6,0.000,0.031,2556,2294,1874
$GC,17922,0.91,235.4,445.9,7.3,866,17930,0.00,0.00,5.90,0.647,6,0.000,0.000,2556,2293,1857
$GC,18231,0.91,235.4,422.2,7.7,881,18232,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2293,1857
$GC,18540,0.91,235.4,396.7,8.6,896,18541,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2293,1856
$GC,18850,0.95,235.4,370.2,8.6,911,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2294,1856
$GC,19159,0.95,235.4,344.5,8.2,926,19160,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2293,1856
$GC,19469,0.99,235.4,319.8,7.7,941,19470,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2293,1857
$GC,19778,1.03,235.4,296.3,7.5,956,19780,0.12,0.00,0.00,0.000,6,0.049,0.000,2595,2293,1855
$GC,20087,0.96,235.4,268.2,9.1,971,20089,0.12,0.00,0.00,0.000,6,0.092,0.000,2571,2292,1856
$GC,20396,0.96,235.4,242.9,8.1,986,20397,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1856
$GC,20705,0.96,235.4,219.6,7.6,1001,20706,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1855
$GC,21014,0.96,235.4,195.9,7.7,1016,21016,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1856
$GC,21324,0.96,235.4,171.5,7.8,1031,21325,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2292,1856
$GC,21633,0.97,239.1,148.4,7.4,1046,21640,0.00,0.00,4.95,0.486,6,0.000,0.000,2571,2293,1842
$GC,21944,1.00,272.0,128.7,6.4,1061,21976,0.00,0.00,30.10,0.626,6,0.000,0.000,2571,2292,1707
$GC,22273,1.00,272.0,100.8,9.7,1077,22274,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1703
$GC,22581,1.04,272.0,71.3,8.7,1092,22582,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,1702
$GC,22890,1.04,272.0,45.2,8.7,1107,22894,0.00,2.50,0.00,0.000,4,0.000,0.048,2571,897,1700
$GC,22946,1.12,272.0,40.0,8.4,1109,22953,0.15,2.45,0.00,0.000,6,0.045,0.035,2609,2309,1699
$GC,23262,1.07,272.0,7.6,10.5,1125,23266,0.00,2.58,0.00,0.000,4,0.000,0.060,2610,3709,1700
$STATE,23303,end climb,SURFACE_DEPTH_REACHED
$STATE,23303,begin surface coast
$FINISH,0.6,1.026650
$STATE,23327,end surface coast,CONTROL_FINISHED_OK
$STATE,23327,begin surface
$SM_CCo,23412,0.00,0.000,0,0,1698,274.74
$SM_GC,1.52,11.88,0.00,0.00,0.079,0.000,0.000,66,2594,1698,-10.47,-0.17,274.74
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1715
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.5,16.015
$10V_AH,10.1,7.144
$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,28.175,85.000,387.525,0.000,0.000,36.447,68.658,274.677,8.500,0.000,0.000,13.027,1948.346,18744.158,479.287,2122.641,680.925,0.000,1501.709,0.000,2079.658,0.000,56.641,0.000
$DEVICE_MAMPS,191.750,70.564,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,816.598,786.612,593.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56810,1128
$CAP_FILE_SIZE,144412,0
$CFSIZE,260165632,254488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,074355,6200.094,-1117.019,41,1.1,42,-10.6