version: 66.04
glider: 16
mission: 13
dive: 75
start: 6 18 109 9 25 21
data:
$ID,16
$MISSION,13
$DIVE,75
$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,-2108936
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,091625,6207.470,-1135.666,38,1.9,39,-10.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.2
$GPS2,092501,6207.416,-1135.588,13,1.9,13,-10.9
$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,5.7,41996,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,78,0.00,0.00,-61.10,0.000,2,0.000,0.000,72,2594,3387
$GC,81,-1.03,-146.6,5.4,-9.7,3,103,11.82,2.55,-0.47,0.000,4,0.181,0.051,2129,1188,3418
$GC,254,-1.03,-146.6,35.2,-9.6,10,261,0.00,2.47,0.00,0.000,6,0.000,0.037,2129,2602,3418
$GC,572,-1.03,-146.6,66.8,-9.6,26,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,880,-1.03,-146.6,96.6,-9.4,41,884,0.00,2.50,0.00,0.000,4,0.000,0.038,2130,1184,3419
$GC,942,-1.03,-146.6,102.0,-7.7,44,946,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2600,3419
$GC,1269,-1.03,-146.6,131.1,-9.4,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3419
$GC,1577,-1.03,-146.6,158.6,-8.7,75,1582,0.00,2.50,0.00,0.000,4,0.000,0.040,2129,1184,3420
$GC,1610,-1.03,-146.6,161.5,-8.4,76,1617,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2601,3420
$GC,1926,-1.03,-146.6,190.2,-9.6,92,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3420
$GC,2235,-1.03,-146.6,221.0,-9.8,107,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3419
$GC,2545,-1.03,-146.6,248.6,-8.7,122,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2602,3419
$GC,2855,-1.03,-146.6,275.6,-8.9,137,2859,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1187,3419
$GC,2888,-1.03,-146.6,278.7,-9.0,138,2892,0.00,2.50,0.00,0.000,6,0.000,0.038,2129,2606,3419
$GC,3203,-1.03,-146.6,308.9,-9.9,153,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2606,3419
$GC,3513,-1.03,-146.6,339.7,-9.9,168,3517,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1191,3418
$GC,3557,-1.03,-146.6,344.0,-9.8,170,3561,0.00,2.47,0.00,0.000,6,0.000,0.038,2129,2600,3418
$GC,3879,-1.03,-146.6,373.2,-8.8,186,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3418
$GC,4188,-1.03,-146.6,399.8,-8.6,201,4195,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1185,3418
$GC,4223,-1.03,-146.6,403.1,-9.1,202,4227,0.00,2.50,0.00,0.000,6,0.000,0.039,2129,2603,3418
$GC,4539,-1.03,-146.6,430.3,-8.5,217,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2604,3418
$GC,4848,-1.03,-146.6,457.8,-9.0,232,4852,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1187,3418
$GC,4910,-1.03,-146.6,463.1,-8.4,235,4915,0.00,2.47,0.00,0.000,6,0.000,0.039,2129,2602,3418
$GC,5238,-1.03,-146.6,492.2,-9.1,251,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2602,3417
$GC,5547,-1.03,-146.6,521.4,-9.6,266,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,5857,-1.03,-146.6,552.0,-10.0,281,5861,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1184,3417
$GC,5901,-1.07,-146.6,556.6,-10.7,283,5905,0.00,2.50,0.00,0.000,6,0.000,0.039,2129,2605,3417
$GC,6222,-1.07,-146.6,586.9,-9.0,299,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2605,3417
$GC,6531,-1.07,-146.6,612.9,-8.3,314,6535,0.00,2.50,0.00,0.000,4,0.000,0.042,2129,1190,3417
$GC,6581,-1.11,-146.6,616.9,-7.6,316,6585,0.00,2.47,0.00,0.000,6,0.000,0.040,2129,2600,3417
$GC,6897,-1.11,-146.6,642.5,-8.4,331,6901,0.00,2.50,0.00,0.000,4,0.000,0.041,2129,1185,3417
$GC,6936,-1.16,-146.6,645.7,-8.1,333,6941,0.00,2.50,0.00,0.000,6,0.000,0.040,2129,2608,3417
$GC,7263,-1.16,-146.6,672.0,-8.1,349,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2608,3416
$GC,7572,-1.16,-146.6,696.4,-8.3,364,7577,0.00,2.50,0.00,0.000,4,0.000,0.043,2129,1191,3416
$GC,7635,-1.21,-146.6,701.5,-8.5,367,7640,0.15,2.47,0.00,0.000,6,0.045,0.041,2085,2600,3416
$GC,7962,-1.08,-146.6,736.3,-11.2,383,7964,0.20,0.00,0.00,0.000,6,0.099,0.000,2123,2600,3416
$GC,8271,-1.08,-146.6,765.7,-9.2,398,8275,0.00,2.47,0.00,0.000,4,0.000,0.043,2122,1191,3416
$GC,8309,-1.08,-146.6,769.5,-9.1,399,8315,0.00,2.50,0.00,0.000,6,0.000,0.041,2122,2602,3416
$GC,8625,-1.08,-146.6,796.3,-8.0,415,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2602,3416
$GC,8934,-1.08,-146.6,822.3,-8.7,430,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2602,3415
$GC,9244,-1.08,-146.6,849.3,-8.5,445,9248,0.00,2.53,0.00,0.000,4,0.000,0.045,2122,1185,3415
$GC,9284,-1.12,-146.6,852.7,-8.6,447,9288,0.00,2.50,0.00,0.000,6,0.000,0.044,2123,2597,3415
$GC,9610,-1.12,-146.6,878.9,-7.0,463,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2597,3415
$GC,9919,-1.12,-146.6,903.2,-8.5,478,9923,0.00,2.50,0.00,0.000,4,0.000,0.046,2122,1193,3415
$GC,9976,-1.16,-146.6,908.6,-10.1,480,9980,0.00,2.50,0.00,0.000,6,0.000,0.044,2122,2600,3415
$GC,10291,-1.16,-146.6,937.7,-8.7,495,10295,0.00,2.50,0.00,0.000,4,0.000,0.045,2122,1191,3414
$GC,10318,-1.16,-146.6,940.1,-8.9,496,10322,0.00,2.50,0.00,0.000,6,0.000,0.043,2122,2600,3414
$GC,10635,-1.16,-146.6,965.1,-7.1,511,10639,0.00,2.50,0.00,0.000,4,0.000,0.045,2123,1192,3414
$GC,10764,-1.22,-146.6,974.9,-7.5,517,10770,0.12,2.50,0.00,0.000,6,0.050,0.044,2085,2600,3413
$STATE,10950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10950,begin apogee
$GC,10958,-0.31,0.0,991.4,8.8,526,11094,1.05,0.00,133.18,1.192,6,0.121,0.000,2289,2289,2817
$STATE,11095,end apogee,CONTROL_FINISHED_OK
$STATE,11095,begin climb
$GC,11098,1.03,146.6,995.4,0.0,533,11243,1.38,2.60,135.18,1.177,4,0.074,0.051,2581,902,2218
$GC,11347,0.91,146.6,979.3,9.7,544,11352,0.12,2.53,0.00,0.000,6,0.094,0.041,2558,2303,2213
$GC,11663,0.82,158.6,954.3,7.1,559,11684,0.00,2.60,11.35,1.012,4,0.000,0.051,2558,907,2168
$GC,11746,0.73,158.6,947.6,8.4,562,11753,0.20,2.50,0.00,0.000,6,0.093,0.041,2519,2301,2167
$GC,12062,0.78,201.9,926.2,6.0,578,12105,0.00,0.00,41.10,1.123,6,0.000,0.000,2519,2300,1994
$GC,12412,0.93,262.2,904.8,5.4,595,12473,0.20,0.00,58.40,1.121,6,0.046,0.000,2571,2300,1748
$GC,12780,0.93,262.2,876.0,8.2,613,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,1739
$GC,13089,0.93,262.2,848.6,8.7,628,13094,0.00,2.53,0.00,0.000,4,0.000,0.050,2570,908,1737
$GC,13134,0.93,262.2,844.5,8.5,630,13138,0.00,2.50,0.00,0.000,6,0.000,0.040,2570,2310,1736
$GC,13455,0.93,262.2,818.6,7.8,646,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2310,1736
$GC,13764,0.93,262.2,792.9,8.6,661,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2310,1736
$GC,14074,0.93,262.2,765.7,8.9,676,14078,0.00,2.55,0.00,0.000,4,0.000,0.049,2570,905,1735
$GC,14141,0.93,262.2,759.4,9.3,679,14145,0.00,2.47,0.00,0.000,6,0.000,0.039,2569,2303,1735
$GC,14461,0.93,262.2,732.2,8.3,695,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2303,1735
$GC,14770,0.93,262.2,705.1,9.2,710,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2303,1735
$GC,15080,0.93,262.2,675.5,9.6,725,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2303,1735
$GC,15389,0.93,262.2,644.2,10.8,740,15393,0.00,2.53,0.00,0.000,4,0.000,0.048,2570,901,1735
$GC,15438,0.93,262.2,638.6,11.3,742,15443,0.00,2.47,0.00,0.000,6,0.000,0.038,2570,2311,1735
$GC,15754,0.93,262.2,605.3,10.2,757,15755,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2309,1735
$GC,16063,0.93,262.2,573.5,10.3,772,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2311,1735
$GC,16373,0.93,262.2,542.9,9.9,787,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2311,1735
$GC,16682,0.93,262.2,512.4,9.9,802,16686,0.00,2.53,0.00,0.000,4,0.000,0.047,2570,904,1735
$GC,16721,0.93,262.2,508.5,9.3,804,16725,0.00,2.45,0.00,0.000,6,0.000,0.037,2570,2303,1735
$GC,17047,0.93,262.2,478.2,9.3,820,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2303,1735
$GC,17356,0.93,262.2,449.9,9.0,835,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2303,1735
$GC,17665,0.93,262.2,423.3,8.3,850,17670,0.00,2.50,0.00,0.000,4,0.000,0.046,2570,905,1735
$GC,17715,0.93,262.2,418.9,8.9,852,17719,0.00,2.45,0.00,0.000,6,0.000,0.036,2570,2307,1735
$GC,18037,0.93,262.2,392.9,7.7,868,18038,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2307,1735
$GC,18346,0.93,262.2,368.0,8.0,883,18347,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2307,1735
$GC,18655,0.93,262.2,342.8,8.1,898,18659,0.00,2.50,0.00,0.000,4,0.000,0.045,2570,906,1735
$GC,18705,0.93,262.2,338.3,8.0,900,18709,0.00,2.45,0.00,0.000,6,0.000,0.036,2570,2306,1735
$GC,19021,0.93,262.2,310.8,9.1,915,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2305,1735
$GC,19330,0.93,262.2,280.7,9.9,930,19334,0.00,2.50,0.00,0.000,4,0.000,0.046,2570,899,1735
$GC,19380,0.93,262.2,275.4,10.9,932,19384,0.00,2.45,0.00,0.000,6,0.000,0.036,2570,2300,1735
$GC,19701,0.93,262.2,241.9,10.6,948,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2301,1735
$GC,20011,0.93,262.2,210.7,9.7,963,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,1735
$GC,20320,0.93,262.2,182.2,8.8,978,20324,0.00,2.47,0.00,0.000,4,0.000,0.045,2570,905,1736
$GC,20371,0.93,262.2,177.6,9.7,980,20375,0.00,2.45,0.00,0.000,6,0.000,0.036,2570,2309,1736
$GC,20692,0.93,262.2,149.9,8.6,996,20693,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2309,1736
$GC,21003,0.93,262.2,124.4,8.0,1011,21007,0.00,2.50,0.00,0.000,4,0.000,0.044,2570,905,1736
$GC,21047,0.93,262.2,120.6,8.3,1013,21051,0.00,2.42,0.00,0.000,6,0.000,0.035,2570,2300,1736
$GC,21368,0.95,279.7,97.6,6.9,1029,21388,0.00,0.00,14.77,0.577,6,0.000,0.000,2570,2300,1675
$GC,21699,0.99,279.7,74.1,8.0,1045,21701,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2300,1674
$GC,22007,1.05,291.4,50.1,7.1,1060,22025,0.00,0.00,11.50,0.533,6,0.000,0.000,2570,2300,1628
$GC,22337,1.10,291.4,23.9,8.1,1076,22339,0.12,0.00,0.00,0.000,6,0.051,0.000,2601,2300,1626
$STATE,22560,end climb,SURFACE_DEPTH_REACHED
$STATE,22560,begin surface coast
$FINISH,0.6,1.026507
$STATE,22581,end surface coast,CONTROL_FINISHED_OK
$STATE,22581,begin surface
$SM_CCo,22664,0.00,0.000,0,0,1622,293.13
$SM_GC,1.30,11.93,0.00,0.00,0.082,0.000,0.000,68,2613,1622,-10.47,0.37,293.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1731
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.5,16.732
$10V_AH,10.1,7.617
$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,27.300,135.925,405.475,0.000,0.000,36.339,60.754,226.299,8.500,0.000,0.000,13.918,1917.297,17899.207,539.504,2184.886,636.102,0.000,1608.022,0.000,2133.143,0.000,56.654,0.000
$DEVICE_MAMPS,181.012,51.389,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,780.610,755.948,599.186,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53703,1088
$CAP_FILE_SIZE,146831,0
$CFSIZE,260165632,254136320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,154424,6210.562,-1137.609,25,1.1,43,-10.9