version: 66.04
glider: 16
mission: 13
dive: 73
start: 6 17 109 20 35 25
data:
$ID,16
$MISSION,13
$DIVE,73
$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,-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,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,-2108908
$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,27
$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
$GPS1,202857,6159.835,-1135.799,24,2.2,44,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.5
$GPS2,203508,6159.811,-1135.776,14,1.2,14,-10.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$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,7.1,56027,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,79,0.00,0.00,-61.10,0.000,2,0.000,0.000,74,2610,3376
$GC,82,-1.03,-146.6,5.9,-11.1,3,104,11.85,2.55,-0.65,0.000,4,0.183,0.048,2131,1190,3417
$GC,273,-1.03,-146.6,31.7,-7.2,11,277,0.00,2.50,0.00,0.000,6,0.000,0.037,2131,2605,3418
$GC,589,-1.03,-146.6,55.8,-7.1,26,593,0.00,2.35,0.00,0.000,4,0.000,0.067,2131,3867,3419
$GC,633,-1.03,-146.6,59.5,-8.2,28,637,0.00,2.20,0.00,0.000,6,0.000,0.028,2131,2576,3419
$GC,954,-1.03,-146.6,86.5,-9.1,44,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2574,3419
$GC,1263,-1.03,-146.6,114.2,-9.2,59,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2575,3419
$GC,1573,-1.03,-146.6,143.2,-9.6,74,1577,0.00,2.42,0.00,0.000,4,0.000,0.041,2131,1201,3419
$GC,1606,-1.03,-146.6,146.5,-9.1,75,1612,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2604,3419
$GC,1922,-1.03,-146.6,176.1,-9.5,91,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3419
$GC,2231,-1.03,-146.6,206.5,-9.8,106,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3419
$GC,2540,-1.03,-146.6,237.8,-10.4,121,2545,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1203,3419
$GC,2580,-1.03,-146.6,241.9,-10.6,123,2584,0.00,2.47,0.00,0.000,6,0.000,0.038,2131,2609,3419
$GC,2906,-1.03,-146.6,274.8,-10.1,139,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2609,3419
$GC,3216,-1.03,-146.6,306.0,-9.9,154,3220,0.00,2.47,0.00,0.000,4,0.000,0.041,2131,1206,3419
$GC,3271,-1.03,-146.6,311.6,-9.7,156,3277,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2601,3419
$GC,3587,-1.03,-146.6,344.1,-10.3,172,3591,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1207,3419
$GC,3621,-1.03,-146.6,347.7,-10.5,173,3627,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3419
$GC,3936,-1.03,-146.6,379.5,-10.1,189,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,4246,-1.03,-146.6,408.8,-9.0,204,4250,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1207,3418
$GC,4286,-1.07,-146.6,412.4,-8.9,206,4290,0.00,2.45,0.00,0.000,6,0.000,0.039,2131,2600,3418
$GC,4612,-1.07,-146.6,441.3,-8.9,222,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,4921,-1.07,-146.6,468.2,-8.9,237,4926,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,4977,-1.12,-146.6,473.3,-8.9,239,4983,0.00,2.45,0.00,0.000,6,0.000,0.038,2131,2600,3418
$GC,5294,-1.12,-146.6,500.3,-8.5,255,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5603,-1.12,-146.6,526.7,-8.3,270,5607,0.00,2.45,0.00,0.000,4,0.000,0.041,2131,1206,3418
$GC,5653,-1.17,-146.6,530.9,-7.9,272,5658,0.12,2.45,0.00,0.000,6,0.047,0.039,2090,2601,3418
$GC,5969,-1.06,-146.6,563.4,-10.5,287,5971,0.20,0.00,0.00,0.000,6,0.094,0.000,2129,2601,3417
$GC,6278,-1.06,-146.6,590.4,-8.8,302,6282,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1199,3417
$GC,6340,-1.10,-146.6,595.7,-8.9,305,6344,0.00,2.45,0.00,0.000,6,0.000,0.040,2129,2599,3417
$GC,6667,-1.10,-146.6,626.1,-9.6,321,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,6976,-1.10,-146.6,657.7,-10.5,336,6980,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1207,3417
$GC,7038,-1.15,-146.6,664.2,-10.6,339,7042,0.00,2.45,0.00,0.000,6,0.000,0.040,2129,2599,3417
$GC,7364,-1.15,-146.6,696.6,-9.4,355,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3417
$GC,7673,-1.15,-146.6,723.4,-8.4,370,7678,0.00,2.45,0.00,0.000,4,0.000,0.042,2129,1208,3417
$GC,7720,-1.20,-146.6,727.2,-8.4,372,7725,0.15,2.45,0.00,0.000,6,0.046,0.040,2084,2597,3417
$GC,8041,-1.08,-146.6,759.2,-9.7,388,8043,0.20,0.00,0.00,0.000,6,0.094,0.000,2123,2599,3416
$GC,8350,-1.08,-146.6,783.6,-8.1,403,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2599,3417
$GC,8659,-1.08,-146.6,810.2,-8.7,418,8663,0.00,2.47,0.00,0.000,4,0.000,0.043,2123,1202,3416
$GC,8703,-1.08,-146.6,814.0,-8.5,420,8707,0.00,2.47,0.00,0.000,6,0.000,0.041,2123,2602,3416
$GC,9024,-1.08,-146.6,840.3,-8.4,436,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2601,3416
$GC,9333,-1.08,-146.6,866.6,-8.7,451,9338,0.00,2.47,0.00,0.000,4,0.000,0.045,2123,1207,3416
$GC,9373,-1.08,-146.6,870.1,-8.7,453,9378,0.00,2.47,0.00,0.000,6,0.000,0.043,2123,2602,3416
$GC,9700,-1.08,-146.6,897.0,-7.9,469,9704,0.00,2.47,0.00,0.000,4,0.000,0.045,2123,1209,3416
$GC,9727,-1.08,-146.6,899.2,-8.1,470,9731,0.00,2.47,0.00,0.000,6,0.000,0.043,2123,2603,3415
$GC,10043,-1.08,-146.6,924.5,-8.9,485,10047,0.00,2.47,0.00,0.000,4,0.000,0.046,2123,1210,3416
$GC,10082,-1.13,-146.6,928.1,-9.0,487,10086,0.00,2.45,0.00,0.000,6,0.000,0.043,2123,2600,3416
$GC,10415,-1.13,-146.6,957.5,-8.6,503,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3415
$GC,10724,-1.13,-146.6,981.6,-7.7,518,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2600,3414
$STATE,10845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10845,begin apogee
$GC,10852,-0.31,0.0,991.0,7.7,524,10989,0.85,0.00,133.00,1.187,6,0.127,0.000,2287,2302,2817
$STATE,10990,end apogee,CONTROL_FINISHED_OK
$STATE,10990,begin climb
$GC,10993,1.03,146.6,996.5,0.0,531,11138,1.38,2.60,134.80,1.179,4,0.074,0.051,2579,911,2218
$GC,11197,0.93,168.6,991.2,6.7,540,11223,0.00,2.50,21.08,1.096,6,0.000,0.040,2579,2304,2129
$GC,11536,0.85,168.6,965.6,8.1,556,11541,0.17,2.65,0.00,0.000,4,0.095,0.071,2546,3702,2123
$GC,11621,0.77,168.6,958.3,8.7,560,11626,0.00,2.47,0.00,0.000,6,0.000,0.035,2546,2308,2122
$GC,11948,0.77,168.6,931.9,8.3,576,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2307,2122
$GC,12257,0.84,234.1,912.5,5.3,591,12321,0.00,0.00,61.65,1.125,6,0.000,0.000,2546,2307,1861
$GC,12626,0.84,234.1,881.4,9.3,609,12630,0.00,2.62,0.00,0.000,4,0.000,0.066,2546,3704,1855
$GC,12666,0.84,234.1,877.8,8.9,611,12670,0.00,2.47,0.00,0.000,6,0.000,0.035,2546,2301,1855
$GC,12992,0.84,234.1,850.2,8.3,627,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2300,1853
$GC,13302,0.84,234.1,824.1,8.6,642,13306,0.00,2.65,0.00,0.000,4,0.000,0.066,2546,3712,1853
$GC,13341,0.84,234.1,820.5,10.2,644,13345,0.00,2.50,0.00,0.000,6,0.000,0.033,2546,2292,1853
$GC,13667,0.89,234.1,794.3,7.8,660,13672,0.00,2.65,0.00,0.000,4,0.000,0.065,2546,3705,1853
$GC,13707,0.89,234.1,790.9,8.1,662,13711,0.00,2.47,0.00,0.000,6,0.000,0.033,2546,2295,1853
$GC,14034,0.93,234.1,766.0,7.5,678,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2295,1853
$GC,14343,0.97,234.1,742.1,7.8,693,14348,0.12,2.62,0.00,0.000,4,0.050,0.064,2585,3710,1853
$GC,14383,0.86,234.1,738.2,10.2,695,14388,0.20,2.47,0.00,0.000,6,0.094,0.032,2546,2292,1852
$GC,14710,0.86,234.1,712.2,7.8,711,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2292,1852
$GC,15020,0.91,234.1,688.3,7.7,726,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2292,1852
$GC,15329,0.95,239.3,665.4,7.3,741,15339,0.00,2.62,4.50,0.648,4,0.000,0.062,2547,3705,1841
$GC,15373,0.95,239.3,661.7,8.6,743,15377,0.00,2.45,0.00,0.000,6,0.000,0.031,2546,2298,1841
$GC,15694,1.01,239.3,636.5,8.2,759,15696,0.15,0.00,0.00,0.000,6,0.046,0.000,2586,2297,1841
$GC,16003,0.93,239.3,602.8,11.1,774,16005,0.15,0.00,0.00,0.000,6,0.092,0.000,2559,2297,1841
$GC,16312,0.93,239.3,572.4,9.5,789,16313,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,1841
$GC,16621,0.93,239.3,544.0,9.2,804,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,1841
$GC,16930,0.93,239.3,516.4,9.2,819,16931,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,1841
$GC,17240,0.93,239.3,489.2,8.7,834,17241,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2297,1841
$GC,17549,0.93,239.3,462.0,8.6,849,17553,0.00,2.60,0.00,0.000,4,0.000,0.061,2559,3705,1841
$GC,17589,0.93,239.3,458.4,9.8,851,17593,0.00,2.45,0.00,0.000,6,0.000,0.031,2559,2296,1840
$GC,17915,0.93,239.3,429.8,8.9,867,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1841
$GC,18225,0.93,239.3,401.9,8.9,882,18226,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1841
$GC,18534,0.93,239.3,374.5,8.8,897,18535,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1841
$GC,18843,0.93,239.3,348.0,8.6,912,18844,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1841
$GC,19152,0.93,239.3,323.4,7.9,927,19154,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1841
$GC,19462,0.94,245.7,300.1,7.3,942,19472,0.00,0.00,7.65,0.625,6,0.000,0.000,2559,2295,1815
$GC,19771,0.94,245.7,276.1,7.9,957,19772,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1814
$GC,20080,0.94,245.7,252.6,7.6,972,20081,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2295,1814
$GC,20390,1.00,264.8,230.7,6.8,987,20411,0.00,0.00,18.33,0.663,6,0.000,0.000,2559,2295,1737
$GC,20719,1.09,294.3,208.8,6.5,1003,20749,0.17,0.00,27.15,0.659,6,0.043,0.000,2611,2294,1617
$GC,21049,1.02,294.3,177.0,10.2,1019,21054,0.15,2.53,0.00,0.000,4,0.091,0.048,2581,891,1613
$GC,21104,1.02,294.3,171.7,9.1,1021,21110,0.00,2.50,0.00,0.000,6,0.000,0.036,2581,2312,1610
$GC,21421,1.02,294.3,143.9,9.0,1037,21423,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2312,1610
$GC,21729,1.02,294.3,116.3,8.9,1052,21734,0.00,2.55,0.00,0.000,4,0.000,0.045,2581,891,1610
$GC,21785,1.02,294.3,111.0,9.6,1054,21791,0.00,2.47,0.00,0.000,6,0.000,0.035,2581,2307,1609
$GC,22101,1.02,294.3,82.2,9.1,1070,22102,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2308,1609
$GC,22410,1.02,294.3,54.4,8.7,1085,22415,0.00,2.53,0.00,0.000,4,0.000,0.045,2581,894,1609
$GC,22455,1.07,294.3,50.4,8.2,1087,22459,0.00,2.45,0.00,0.000,6,0.000,0.035,2581,2301,1608
$GC,22776,1.07,294.3,24.5,8.1,1103,22780,0.00,2.58,0.00,0.000,4,0.000,0.061,2581,3701,1608
$GC,22825,1.07,294.3,19.6,11.3,1105,22830,0.00,2.42,0.00,0.000,6,0.000,0.029,2581,2296,1608
$STATE,23015,end climb,SURFACE_DEPTH_REACHED
$STATE,23015,begin surface coast
$FINISH,0.8,1.026631
$STATE,23037,end surface coast,CONTROL_FINISHED_OK
$STATE,23037,begin surface
$SM_CCo,23120,0.00,0.000,0,0,1606,297.06
$SM_GC,1.68,11.75,0.00,0.00,0.081,0.000,0.000,77,2603,1606,-10.45,0.08,297.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1722
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.5,16.441
$10V_AH,10.1,7.429
$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,27.625,140.325,408.150,0.000,0.000,18.262,34.431,191.122,8.500,0.000,0.000,14.374,1964.190,18214.895,539.067,2203.206,563.608,0.000,1621.567,0.000,2155.844,0.000,56.340,0.000
$DEVICE_MAMPS,182.546,70.564,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,807.184,774.448,602.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56933,1115
$CAP_FILE_SIZE,151072,0
$CFSIZE,260165632,254271488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180609,030207,6204.035,-1136.270,39,0.8,46,-10.8