version: 66.04
glider: 16
mission: 13
dive: 71
start: 6 17 109 7 50 2
data:
$ID,16
$MISSION,13
$DIVE,71
$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,-2108857.8
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,074355,6200.094,-1117.019,41,1.1,42,-10.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.7
$GPS2,074944,6200.057,-1117.017,16,1.6,16,-10.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6200.057,-1140.021
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,73,0.00,0.00,-56.30,0.000,2,0.000,0.000,65,2594,3297
$GC,77,-1.03,-146.6,5.1,-6.9,3,99,12.05,0.00,-1.98,0.000,6,0.188,0.000,2130,2593,3417
$GC,409,-1.03,-146.6,52.7,-11.8,19,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2593,3418
$GC,717,-1.03,-146.6,87.7,-10.0,34,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2593,3419
$GC,1026,-1.03,-146.6,116.4,-9.3,49,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2592,3419
$GC,1335,-1.03,-146.6,147.2,-10.4,64,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2593,3419
$GC,1644,-1.03,-146.6,179.2,-10.3,79,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2593,3419
$GC,1954,-1.03,-146.6,208.6,-9.2,94,1958,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1197,3419
$GC,2010,-1.03,-146.6,213.7,-9.0,96,2016,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2606,3419
$GC,2326,-1.03,-146.6,242.2,-9.1,112,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3419
$GC,2635,-1.03,-146.6,269.7,-8.8,127,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2606,3419
$GC,2944,-1.03,-146.6,296.3,-8.5,142,2948,0.00,2.50,0.00,0.000,4,0.000,0.041,2130,1189,3418
$GC,2983,-1.03,-146.6,299.4,-7.9,144,2988,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3419
$GC,3310,-1.03,-146.6,327.2,-8.8,160,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,3619,-1.03,-146.6,355.8,-9.5,175,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3419
$GC,3929,-1.03,-146.6,384.9,-9.3,190,3933,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1194,3418
$GC,3991,-1.07,-146.6,390.7,-9.5,193,3996,0.00,2.45,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,4318,-1.07,-146.6,420.2,-8.8,209,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,4627,-1.07,-146.6,447.7,-9.0,224,4632,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1191,3418
$GC,4678,-1.12,-146.6,452.3,-8.9,226,4682,0.00,2.47,0.00,0.000,6,0.000,0.038,2130,2600,3418
$GC,4994,-1.12,-146.6,481.4,-9.0,241,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3418
$GC,5303,-1.12,-146.6,510.5,-9.7,256,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,5613,-1.12,-146.6,539.4,-9.2,271,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2600,3417
$GC,5922,-1.12,-146.6,566.8,-8.4,286,5926,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1193,3417
$GC,6000,-1.23,-146.6,572.8,-7.6,289,6006,0.17,2.47,0.00,0.000,6,0.041,0.038,2076,2604,3417
$GC,6317,-1.16,-146.6,601.8,-9.6,305,6322,0.15,2.47,0.00,0.000,4,0.096,0.041,2105,1196,3417
$GC,6574,-1.16,-146.6,624.1,-8.8,316,6580,0.00,2.47,0.00,0.000,6,0.000,0.039,2105,2605,3417
$GC,6891,-1.16,-146.6,650.5,-8.5,332,6895,0.00,2.35,0.00,0.000,4,0.000,0.074,2105,3864,3417
$GC,7002,-1.16,-146.6,660.6,-9.3,337,7006,0.00,2.17,0.00,0.000,6,0.000,0.031,2105,2590,3417
$GC,7329,-1.16,-146.6,688.6,-8.8,353,7333,0.00,2.45,0.00,0.000,4,0.000,0.045,2105,1202,3417
$GC,7587,-1.16,-146.6,711.7,-9.0,364,7593,0.00,2.45,0.00,0.000,6,0.000,0.040,2105,2600,3417
$GC,7902,-1.16,-146.6,738.5,-8.6,380,7906,0.00,2.35,0.00,0.000,4,0.000,0.075,2105,3861,3416
$GC,8059,-1.16,-146.6,753.3,-9.3,387,8063,0.00,2.17,0.00,0.000,6,0.000,0.031,2105,2595,3416
$GC,8392,-1.16,-146.6,782.9,-9.1,403,8396,0.00,2.47,0.00,0.000,4,0.000,0.048,2105,1199,3416
$GC,8593,-1.16,-146.6,802.0,-9.5,412,8598,0.00,2.47,0.00,0.000,6,0.000,0.041,2105,2599,3416
$GC,8915,-1.16,-146.6,829.9,-8.7,428,8918,0.00,2.47,0.00,0.000,4,0.000,0.044,2105,1198,3416
$GC,9066,-1.16,-146.6,844.0,-9.7,434,9072,0.00,2.47,0.00,0.000,6,0.000,0.043,2105,2599,3415
$GC,9381,-1.16,-146.6,871.8,-8.5,450,9386,0.00,2.47,0.00,0.000,4,0.000,0.044,2107,1198,3415
$GC,9499,-1.16,-146.6,882.3,-8.7,455,9503,0.00,2.50,0.00,0.000,6,0.000,0.043,2105,2604,3415
$GC,9820,-1.16,-146.6,910.9,-8.8,471,9824,0.00,2.50,0.00,0.000,4,0.000,0.045,2105,1194,3415
$GC,9914,-1.16,-146.6,919.1,-8.7,475,9919,0.00,2.50,0.00,0.000,6,0.000,0.043,2105,2603,3415
$GC,10230,-1.16,-146.6,945.2,-9.2,490,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2603,3415
$GC,10539,-1.16,-146.6,971.7,-8.6,505,10544,0.00,2.50,0.00,0.000,4,0.000,0.046,2105,1195,3415
$GC,10634,-1.16,-146.6,979.5,-8.2,509,10639,0.00,2.50,0.00,0.000,6,0.000,0.044,2105,2606,3414
$STATE,10783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10783,begin apogee
$GC,10790,-0.31,0.0,991.1,7.9,516,10926,0.93,0.00,133.07,1.187,6,0.109,0.000,2289,2293,2818
$STATE,10927,end apogee,CONTROL_FINISHED_OK
$STATE,10927,begin climb
$GC,10930,1.03,146.6,996.7,0.0,523,11075,1.35,2.60,134.98,1.177,4,0.073,0.051,2578,902,2217
$GC,11139,0.89,146.6,990.0,7.9,532,11146,0.12,2.50,0.00,0.000,6,0.097,0.040,2554,2303,2214
$GC,11456,0.81,163.0,967.0,6.9,548,11477,0.00,2.70,15.35,1.055,4,0.000,0.069,2554,3703,2152
$GC,11539,0.68,163.0,960.3,7.8,551,11546,0.22,2.47,0.00,0.000,6,0.095,0.035,2511,2308,2150
$GC,11856,0.83,245.7,943.3,4.7,567,11937,0.15,0.00,78.82,1.144,6,0.049,0.000,2554,2307,1815
$GC,12245,0.83,245.7,913.5,9.1,586,12249,0.00,2.65,0.00,0.000,4,0.000,0.067,2554,3711,1807
$GC,12284,0.83,245.7,909.9,9.1,588,12288,0.00,2.50,0.00,0.000,6,0.000,0.035,2554,2295,1807
$GC,12610,0.83,245.7,881.7,9.2,604,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,1806
$GC,12919,0.83,245.7,853.6,9.2,619,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2295,1804
$GC,13229,0.83,245.7,825.4,9.1,634,13233,0.00,2.65,0.00,0.000,4,0.000,0.064,2554,3705,1804
$GC,13273,0.83,245.7,821.0,10.6,636,13277,0.00,2.45,0.00,0.000,6,0.000,0.034,2554,2300,1804
$GC,13599,0.83,245.7,792.2,9.1,652,13604,0.00,2.55,0.00,0.000,4,0.000,0.054,2554,897,1803
$GC,13644,0.83,245.7,787.7,10.4,654,13648,0.00,2.47,0.00,0.000,6,0.000,0.038,2554,2302,1803
$GC,13964,0.83,245.7,755.6,10.3,670,13969,0.00,2.60,0.00,0.000,4,0.000,0.064,2554,3701,1802
$GC,14021,0.83,245.7,749.7,10.7,672,14028,0.00,2.45,0.00,0.000,6,0.000,0.033,2554,2299,1802
$GC,14337,0.83,245.7,719.8,9.0,688,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,1802
$GC,14646,0.83,245.7,693.0,8.3,703,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,1802
$GC,14955,0.83,245.7,669.0,7.5,718,14957,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2299,1802
$GC,15265,0.83,245.7,645.7,7.5,733,15269,0.00,2.62,0.00,0.000,4,0.000,0.063,2554,3708,1802
$GC,15314,0.83,245.7,641.4,9.1,735,15318,0.00,2.47,0.00,0.000,6,0.000,0.033,2554,2292,1802
$GC,15630,0.88,245.7,616.0,7.7,750,15631,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2292,1802
$GC,15940,0.92,246.9,593.0,7.5,765,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2293,1802
$GC,16248,0.92,247.8,569.8,7.5,780,16253,0.00,2.60,0.00,0.000,4,0.000,0.061,2554,3705,1802
$GC,16293,0.92,247.8,566.1,9.0,782,16297,0.00,2.45,0.00,0.000,6,0.000,0.031,2554,2297,1802
$GC,16614,0.97,247.8,540.5,8.1,798,16615,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2297,1802
$GC,16923,1.01,247.8,516.2,7.8,813,16925,0.12,0.00,0.00,0.000,6,0.048,0.000,2595,2297,1802
$GC,17232,0.95,247.8,486.1,9.8,828,17234,0.15,0.00,0.00,0.000,6,0.091,0.000,2565,2296,1802
$GC,17541,0.95,247.8,460.9,8.2,843,17542,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1803
$GC,17850,0.95,247.8,435.1,8.7,858,17851,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,1803
$GC,18160,0.95,247.8,407.9,8.7,873,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1802
$GC,18469,0.95,247.8,381.4,8.8,888,18473,0.00,2.58,0.00,0.000,4,0.000,0.061,2565,3702,1802
$GC,18513,0.95,247.8,377.2,8.3,890,18517,0.00,2.42,0.00,0.000,6,0.000,0.031,2565,2293,1803
$GC,18840,0.95,247.8,349.9,7.8,906,18841,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2293,1803
$GC,19150,0.95,247.8,324.9,8.2,921,19151,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2293,1803
$GC,19459,0.95,247.8,299.5,8.2,936,19460,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2294,1803
$GC,19768,0.95,247.8,274.0,8.4,951,19769,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2294,1803
$GC,20077,0.95,247.8,247.8,8.3,966,20082,0.00,2.58,0.00,0.000,4,0.000,0.060,2565,3702,1803
$GC,20117,0.95,247.8,244.1,9.4,968,20121,0.00,2.42,0.00,0.000,6,0.000,0.031,2565,2298,1803
$GC,20449,0.95,247.8,215.8,8.6,984,20453,0.00,2.50,0.00,0.000,4,0.000,0.048,2565,895,1803
$GC,20489,0.95,247.8,212.1,9.9,986,20493,0.00,2.45,0.00,0.000,6,0.000,0.035,2565,2302,1803
$GC,20815,0.95,247.8,182.4,8.9,1002,20819,0.00,2.58,0.00,0.000,4,0.000,0.061,2565,3704,1803
$GC,20854,0.95,247.8,178.6,9.6,1004,20858,0.00,2.42,0.00,0.000,6,0.000,0.031,2565,2298,1804
$GC,21180,0.95,247.8,149.2,9.1,1020,21181,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1803
$GC,21490,0.95,247.8,123.4,7.8,1035,21491,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1804
$GC,21800,0.95,247.8,98.6,8.2,1050,21802,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1803
$GC,22109,0.95,247.8,71.8,8.5,1065,22110,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1803
$GC,22418,0.99,247.8,46.2,8.5,1080,22419,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,1804
$GC,22727,1.04,247.8,20.8,8.0,1095,22731,0.00,2.47,0.00,0.000,4,0.000,0.046,2565,898,1804
$GC,22778,1.09,247.8,16.3,8.8,1097,22783,0.15,2.45,0.00,0.000,6,0.045,0.035,2606,2309,1803
$STATE,22926,end climb,SURFACE_DEPTH_REACHED
$STATE,22926,begin surface coast
$FINISH,0.3,1.026454
$STATE,22948,end surface coast,CONTROL_FINISHED_OK
$STATE,22948,begin surface
$SM_CCo,22972,0.50,0.115,0,0,1797,250.21
$SM_GC,2.07,0.00,0.00,0.50,0.000,0.000,0.115,77,2608,1797,-10.50,0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1703
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.5,16.149
$10V_AH,10.1,7.240
$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,27.650,135.125,362.225,0.500,0.000,17.967,28.893,175.460,8.500,0.000,0.000,15.996,1982.231,17944.721,489.139,2373.071,530.394,0.000,1634.067,0.000,2314.686,0.000,56.335,0.000
$DEVICE_MAMPS,187.915,75.166,1186.549,115.050,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.186,765.242,587.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56725,1105
$CAP_FILE_SIZE,151762,0
$CFSIZE,260165632,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170609,141407,6159.115,-1127.073,32,1.5,33,-10.7