version: 66.04
glider: 16
mission: 13
dive: 72
start: 6 17 109 14 20 56
data:
$ID,16
$MISSION,13
$DIVE,72
$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,-2108893
$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,28
$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
$GPS1,141407,6159.115,-1127.073,32,1.5,33,-10.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.7
$GPS2,142040,6159.147,-1127.114,14,2.3,33,-10.7
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6159.147,-1150.106
$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,280.7,20000,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.53,0.000,6,0.000,0.000,76,2609,3417
$GC,81,-1.03,-146.6,8.1,-16.6,3,97,12.18,0.00,0.00,0.000,6,0.190,0.000,2126,2609,3417
$GC,409,-0.98,-146.6,57.9,-9.9,19,413,0.00,2.50,0.00,0.000,4,0.000,0.038,2126,1190,3419
$GC,458,-0.98,-146.6,62.9,-9.1,21,463,0.00,2.47,0.00,0.000,6,0.000,0.037,2126,2597,3419
$GC,776,-0.98,-146.6,88.1,-8.5,36,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3419
$GC,1084,-0.98,-146.6,115.8,-9.6,51,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3419
$GC,1393,-0.98,-146.6,147.7,-10.8,66,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3419
$GC,1702,-0.98,-146.6,177.4,-8.8,81,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2597,3419
$GC,2011,-0.98,-146.6,205.3,-9.3,96,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2597,3419
$GC,2321,-0.98,-146.6,234.6,-9.7,111,2325,0.00,2.45,0.00,0.000,4,0.000,0.041,2126,1195,3419
$GC,2359,-0.98,-146.6,238.5,-9.8,112,2365,0.00,2.47,0.00,0.000,6,0.000,0.038,2126,2603,3419
$GC,2675,-0.98,-146.6,268.0,-9.2,128,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3419
$GC,2984,-0.98,-146.6,296.8,-9.3,143,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3418
$GC,3294,-0.98,-146.6,325.8,-9.2,158,3298,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1195,3418
$GC,3344,-0.98,-146.6,330.5,-9.0,160,3348,0.00,2.45,0.00,0.000,6,0.000,0.038,2126,2600,3418
$GC,3671,-0.98,-146.6,360.0,-9.3,176,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3418
$GC,3981,-0.98,-146.6,388.0,-9.4,191,3985,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1193,3418
$GC,4031,-0.98,-146.6,392.9,-9.7,193,4035,0.00,2.47,0.00,0.000,6,0.000,0.038,2126,2600,3418
$GC,4347,-0.98,-146.6,423.8,-9.5,208,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3418
$GC,4656,-0.98,-146.6,453.4,-9.3,223,4660,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1195,3418
$GC,4700,-0.98,-146.6,457.6,-8.6,225,4705,0.00,2.47,0.00,0.000,6,0.000,0.039,2126,2603,3418
$GC,5022,-0.98,-146.6,486.1,-8.3,241,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3418
$GC,5332,-0.98,-146.6,513.0,-8.9,256,5336,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1195,3418
$GC,5387,-0.98,-146.6,518.0,-9.1,258,5393,0.00,2.47,0.00,0.000,6,0.000,0.039,2126,2601,3418
$GC,5703,-0.98,-146.6,545.3,-9.0,274,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2601,3417
$GC,6012,-0.98,-146.6,573.8,-9.3,289,6016,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1194,3417
$GC,6067,-0.98,-146.6,579.1,-9.1,291,6073,0.00,2.47,0.00,0.000,6,0.000,0.039,2126,2603,3417
$GC,6383,-0.98,-146.6,607.6,-9.1,307,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2603,3417
$GC,6692,-0.98,-146.6,635.1,-8.7,322,6697,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1196,3417
$GC,6748,-0.98,-146.6,639.8,-8.5,324,6754,0.00,2.47,0.00,0.000,6,0.000,0.040,2126,2602,3417
$GC,7063,-0.98,-146.6,667.3,-8.5,340,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2601,3417
$GC,7373,-0.98,-146.6,693.4,-8.4,355,7377,0.00,2.47,0.00,0.000,4,0.000,0.041,2126,1195,3417
$GC,7435,-0.98,-146.6,698.5,-8.2,358,7439,0.00,2.47,0.00,0.000,6,0.000,0.040,2126,2602,3417
$GC,7761,-0.98,-146.6,724.5,-8.3,374,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2602,3416
$GC,8072,-0.98,-146.6,751.6,-8.8,389,8076,0.00,2.50,0.00,0.000,4,0.000,0.042,2126,1187,3416
$GC,8116,-1.03,-146.6,755.4,-8.2,391,8121,0.00,2.50,0.00,0.000,6,0.000,0.041,2126,2606,3416
$GC,8437,-1.03,-146.6,781.2,-7.7,407,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2605,3416
$GC,8747,-1.03,-146.6,803.4,-7.4,422,8751,0.00,2.50,0.00,0.000,4,0.000,0.043,2126,1191,3416
$GC,8804,-1.08,-146.6,807.5,-7.4,424,8810,0.00,2.50,0.00,0.000,6,0.000,0.042,2126,2606,3416
$GC,9120,-1.08,-146.6,828.9,-6.8,440,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2606,3416
$GC,9429,-1.08,-146.6,849.8,-6.8,455,9434,0.00,2.50,0.00,0.000,4,0.000,0.044,2126,1195,3416
$GC,9474,-1.13,-146.6,852.9,-6.2,457,9479,0.00,2.47,0.00,0.000,6,0.000,0.043,2126,2599,3416
$GC,9801,-1.13,-146.6,878.9,-8.4,473,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2599,3416
$GC,10110,-1.13,-146.6,906.9,-8.8,488,10115,0.00,2.50,0.00,0.000,4,0.000,0.045,2126,1191,3416
$GC,10206,-1.19,-146.6,914.7,-7.5,492,10211,0.12,2.50,0.00,0.000,6,0.049,0.043,2088,2599,3415
$GC,10522,-1.10,-146.6,945.2,-9.7,507,10524,0.15,0.00,0.00,0.000,6,0.100,0.000,2116,2599,3415
$GC,10830,-1.10,-146.6,970.5,-7.7,522,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2599,3415
$STATE,11075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11075,begin apogee
$GC,11082,-0.31,0.0,990.9,8.3,534,11219,0.88,0.00,133.23,1.189,6,0.122,0.000,2287,2290,2817
$STATE,11220,end apogee,CONTROL_FINISHED_OK
$STATE,11220,begin climb
$GC,11223,1.03,146.6,997.2,0.0,541,11368,1.38,2.60,134.90,1.180,4,0.071,0.051,2580,902,2217
$GC,11434,0.93,160.6,991.8,7.0,550,11455,0.00,2.53,13.55,1.046,6,0.000,0.041,2580,2310,2162
$GC,11773,0.88,202.0,969.9,6.1,567,11815,0.15,0.00,39.20,1.130,6,0.096,0.000,2552,2310,1993
$GC,12120,0.91,225.4,948.6,6.7,584,12145,0.00,0.00,23.17,1.092,6,0.000,0.000,2552,2310,1898
$GC,12450,0.93,248.7,926.0,6.7,600,12480,0.00,2.72,23.08,1.085,4,0.000,0.071,2552,3697,1803
$GC,12519,0.93,248.7,920.8,7.5,603,12524,0.00,2.47,0.00,0.000,6,0.000,0.035,2552,2306,1802
$GC,12841,0.96,274.0,898.2,6.6,619,12871,0.00,2.62,25.05,1.077,4,0.000,0.053,2552,898,1698
$GC,12917,1.03,292.2,892.9,6.9,622,12945,0.15,2.53,18.83,1.047,6,0.049,0.040,2594,2308,1624
$GC,13256,0.97,292.2,857.9,11.1,639,13258,0.12,0.00,0.00,0.000,6,0.097,0.000,2571,2308,1619
$GC,13562,0.97,292.2,826.2,10.4,654,13567,0.00,2.55,0.00,0.000,4,0.000,0.051,2570,897,1618
$GC,13618,0.97,292.2,819.9,11.4,656,13624,0.00,2.50,0.00,0.000,6,0.000,0.039,2571,2305,1617
$GC,13934,0.97,292.2,786.1,10.7,672,13938,0.00,2.62,0.00,0.000,4,0.000,0.066,2571,3705,1616
$GC,13966,0.97,292.2,782.4,11.5,673,13972,0.00,2.47,0.00,0.000,6,0.000,0.033,2571,2295,1617
$GC,14282,0.97,292.2,749.9,10.1,689,14283,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2295,1617
$GC,14591,0.97,292.2,719.5,9.3,704,14595,0.00,2.53,0.00,0.000,4,0.000,0.052,2571,896,1617
$GC,14637,0.97,292.2,715.1,9.2,706,14641,0.00,2.47,0.00,0.000,6,0.000,0.038,2571,2302,1615
$GC,14963,0.97,292.2,683.8,9.6,722,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1615
$GC,15273,0.97,292.2,652.5,10.1,737,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2301,1615
$GC,15582,0.97,292.2,622.2,9.7,752,15586,0.00,2.53,0.00,0.000,4,0.000,0.048,2571,892,1615
$GC,15621,1.01,292.2,618.2,10.4,753,15627,0.00,2.47,0.00,0.000,6,0.000,0.037,2571,2301,1615
$GC,15936,1.01,292.2,587.3,9.8,769,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2302,1615
$GC,16245,1.01,292.2,556.1,10.1,784,16249,0.00,2.53,0.00,0.000,4,0.000,0.048,2571,888,1615
$GC,16292,1.06,292.2,551.4,10.8,786,16296,0.00,2.47,0.00,0.000,6,0.000,0.037,2571,2299,1615
$GC,16618,1.06,292.2,518.3,10.1,802,16619,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2299,1614
$GC,16927,1.06,292.2,487.2,9.9,817,16932,0.00,2.53,0.00,0.000,4,0.000,0.047,2571,892,1615
$GC,16968,1.11,292.2,483.1,10.0,819,16973,0.15,2.47,0.00,0.000,6,0.045,0.036,2616,2306,1615
$GC,17295,1.02,292.2,443.0,12.6,835,17296,0.17,0.00,0.00,0.000,6,0.090,0.000,2582,2307,1615
$GC,17603,1.02,292.2,410.9,10.4,850,17607,0.00,2.53,0.00,0.000,4,0.000,0.047,2582,894,1615
$GC,17647,1.02,292.2,406.2,10.4,852,17651,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2310,1615
$GC,17968,1.02,292.2,374.5,9.4,868,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2309,1615
$GC,18277,1.02,292.2,344.9,9.8,883,18281,0.00,2.53,0.00,0.000,4,0.000,0.046,2582,891,1616
$GC,18333,1.02,292.2,339.2,10.3,885,18337,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2308,1616
$GC,18648,1.02,292.2,308.2,10.0,900,18649,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2308,1615
$GC,18958,1.02,292.2,277.7,9.7,915,18962,0.00,2.55,0.00,0.000,4,0.000,0.046,2582,886,1616
$GC,19014,1.02,292.2,272.2,9.3,917,19020,0.00,2.47,0.00,0.000,6,0.000,0.036,2582,2302,1616
$GC,19330,1.02,292.2,242.7,9.4,933,19331,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1616
$GC,19639,1.02,292.2,214.5,9.1,948,19643,0.00,2.53,0.00,0.000,4,0.000,0.045,2582,891,1616
$GC,19683,1.02,292.2,210.2,10.7,950,19687,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2306,1616
$GC,20004,1.02,292.2,178.4,10.1,966,20005,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2306,1616
$GC,20313,1.02,292.2,148.2,9.3,981,20318,0.00,2.53,0.00,0.000,4,0.000,0.044,2582,890,1616
$GC,20358,1.02,292.2,143.9,9.4,983,20362,0.00,2.47,0.00,0.000,6,0.000,0.035,2582,2305,1616
$GC,20680,1.02,292.2,116.8,8.0,999,20681,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2305,1616
$GC,20989,1.02,292.2,92.2,8.6,1014,20993,0.00,2.53,0.00,0.000,4,0.000,0.045,2582,891,1616
$GC,21045,1.07,292.2,86.3,9.9,1016,21051,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2300,1616
$GC,21361,1.07,292.2,50.6,11.1,1032,21362,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2300,1616
$GC,21670,1.11,292.2,24.5,8.5,1047,21675,0.00,2.50,0.00,0.000,4,0.000,0.045,2582,894,1616
$GC,21766,1.18,292.2,15.9,8.6,1051,21771,0.15,2.45,0.00,0.000,6,0.045,0.035,2629,2302,1616
$STATE,21893,end climb,SURFACE_DEPTH_REACHED
$STATE,21894,begin surface coast
$FINISH,0.5,1.026592
$STATE,21917,end surface coast,CONTROL_FINISHED_OK
$STATE,21917,begin surface
$SM_CCo,22000,0.00,0.000,0,0,1614,295.10
$SM_GC,1.62,11.90,0.00,0.00,0.077,0.000,0.000,74,2610,1614,-10.45,0.28,295.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1732
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.5,16.299
$10V_AH,10.1,7.333
$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,27.500,146.100,411.000,0.000,0.000,18.043,32.905,198.693,8.500,0.000,0.000,34.400,1876.718,17264.246,538.296,2153.665,551.886,0.000,1601.162,0.000,2081.667,0.000,56.349,0.000
$DEVICE_MAMPS,190.216,70.564,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,766.777,733.366,564.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53871,1058
$CAP_FILE_SIZE,146776,0
$CFSIZE,260165632,254345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,202857,6159.835,-1135.799,24,2.2,44,-10.8