version: 66.03
glider: 16
mission: 9
dive: 37
start: 6 12 108 7 44 59
data:
$ID,16
$MISSION,9
$DIVE,37
$D_SURF,2
$D_FLARE,3
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,1
$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,300
$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,-2093283.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$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,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$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,20
$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
$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
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,073837,6028.692,-554.087,36,1.1,42,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.4
$GPS2,074408,6028.621,-553.913,15,1.1,32,-7.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.038,-0.218
$KALMAN_X,-7243.9,509.3,-298.9,-26382.9,-78.7
$KALMAN_Y,-21242.3,-667.3,-562.6,-12751.1,11253.7
$MHEAD_RNG_PITCHd_Wd,203.7,35966,-11.0,-6.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.72,0.000,2,0.000,0.000,66,2299,2666
$GC,90,-0.85,-146.6,3.1,-4.0,3,133,11.30,2.67,-24.12,0.000,4,0.164,0.089,2107,3707,3378
$GC,352,-0.66,-146.6,30.7,-10.8,14,359,0.25,2.58,0.00,0.000,6,0.092,0.056,2156,2298,3378
$GC,670,-0.62,-146.6,56.0,-8.1,30,674,0.00,2.65,0.00,0.000,4,0.000,0.067,2156,869,3378
$GC,764,-0.62,-146.6,63.7,-7.9,34,769,0.00,2.65,0.00,0.000,6,0.000,0.058,2156,2298,3378
$GC,1082,-0.62,-146.6,87.8,-7.6,49,1086,0.00,2.65,0.00,0.000,4,0.000,0.065,2156,876,3379
$GC,1131,-0.62,-146.6,91.8,-8.3,51,1135,0.00,2.65,0.00,0.000,6,0.000,0.058,2155,2304,3379
$GC,1449,-0.62,-146.6,118.5,-9.4,66,1453,0.00,2.67,0.00,0.000,4,0.000,0.079,2156,3712,3379
$GC,1475,-0.62,-146.6,121.7,-11.2,67,1480,0.00,2.60,0.00,0.000,6,0.000,0.055,2156,2296,3378
$GC,1792,-0.62,-146.6,151.2,-8.2,82,1797,0.00,2.62,0.00,0.000,4,0.000,0.067,2156,876,3379
$GC,1820,-0.62,-146.6,153.5,-7.2,83,1825,0.00,2.62,0.00,0.000,6,0.000,0.058,2156,2302,3379
$GC,2135,-0.62,-146.6,177.3,-7.3,98,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3379
$GC,2445,-0.62,-146.6,199.1,-7.0,113,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3379
$GC,2754,-0.62,-146.6,222.4,-7.8,128,2758,0.00,2.67,0.00,0.000,4,0.000,0.079,2156,3715,3379
$GC,2775,-0.62,-146.6,224.2,-7.8,129,2780,0.00,2.60,0.00,0.000,6,0.000,0.056,2156,2289,3379
$GC,3096,-0.62,-146.6,247.3,-6.7,145,3101,0.00,2.60,0.00,0.000,4,0.000,0.067,2156,881,3379
$GC,3124,-0.62,-146.6,249.2,-6.8,146,3128,0.00,2.60,0.00,0.000,6,0.000,0.058,2156,2299,3379
$GC,3440,-0.62,-146.6,271.9,-7.8,161,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2299,3379
$GC,3749,-0.62,-146.6,295.6,-7.3,176,3753,0.00,2.67,0.00,0.000,4,0.000,0.081,2156,3707,3379
$GC,3793,-0.62,-146.6,299.0,-7.4,178,3797,0.00,2.58,0.00,0.000,6,0.000,0.057,2156,2296,3379
$GC,4114,-0.62,-146.6,324.0,-8.2,194,4118,0.00,2.60,0.00,0.000,4,0.000,0.067,2157,886,3379
$GC,4140,-0.62,-146.6,326.4,-9.3,195,4144,0.00,2.60,0.00,0.000,6,0.000,0.059,2156,2300,3379
$GC,4456,-0.62,-146.6,352.6,-8.1,210,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3379
$GC,4767,-0.62,-146.6,376.3,-7.7,225,4772,0.00,2.65,0.00,0.000,4,0.000,0.069,2156,880,3379
$GC,4807,-0.66,-146.6,379.3,-7.9,227,4812,0.00,2.62,0.00,0.000,6,0.000,0.060,2156,2299,3379
$GC,5134,-0.66,-146.6,403.8,-7.6,243,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3379
$GC,5444,-0.66,-146.6,426.1,-6.6,258,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2299,3379
$GC,5753,-0.66,-146.6,446.5,-6.4,273,5757,0.00,2.62,0.00,0.000,4,0.000,0.069,2156,886,3380
$GC,5780,-0.66,-146.6,448.2,-5.9,274,5785,0.00,2.60,0.00,0.000,6,0.000,0.061,2156,2298,3379
$GC,6095,-0.66,-146.6,469.4,-6.7,289,6100,0.00,2.70,0.00,0.000,4,0.000,0.084,2156,3717,3378
$GC,6151,-0.66,-146.6,473.2,-6.7,291,6157,0.00,2.60,0.00,0.000,6,0.000,0.058,2156,2298,3378
$GC,6467,-0.66,-146.6,495.9,-8.1,307,6471,0.00,2.62,0.00,0.000,4,0.000,0.070,2156,880,3378
$GC,6506,-0.73,-146.6,499.2,-9.3,309,6511,0.00,2.60,0.00,0.000,6,0.000,0.061,2156,2301,3378
$GC,6832,-0.73,-146.6,526.0,-7.6,325,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2301,3378
$GC,7142,-0.73,-146.6,543.9,-5.4,340,7147,0.00,2.72,0.00,0.000,4,0.000,0.091,2156,3712,3378
$GC,7181,-0.73,-146.6,546.6,-7.0,342,7186,0.00,2.62,0.00,0.000,6,0.000,0.061,2156,2297,3378
$STATE,7341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7341,begin apogee
$GC,7347,-0.31,0.0,556.8,6.5,350,7483,0.38,0.00,129.80,1.020,6,0.095,0.000,2231,2297,2780
$STATE,7484,end apogee,CONTROL_FINISHED_OK
$STATE,7484,begin climb
$GC,7487,0.85,146.6,562.0,0.0,357,7622,1.17,0.00,130.18,0.987,6,0.081,0.000,2479,2297,2183
$GC,7939,0.89,185.8,544.6,4.9,379,7979,0.00,0.00,35.47,0.960,6,0.000,0.000,2478,2297,2023
$GC,8290,0.93,186.9,525.5,6.0,396,8291,0.12,0.00,0.00,0.000,6,0.077,0.000,2505,2297,2021
$GC,8598,0.93,186.9,502.9,6.5,411,8603,0.00,2.80,0.00,0.000,4,0.000,0.096,2505,3709,2020
$GC,8631,0.86,186.9,500.8,6.6,412,8637,0.00,2.67,0.00,0.000,6,0.000,0.069,2505,2301,2021
$GC,8947,0.88,202.3,482.9,5.6,428,8966,0.00,0.00,15.15,0.920,6,0.000,0.000,2505,2301,1955
$GC,9276,0.95,266.0,467.5,4.3,444,9339,0.00,2.78,56.15,0.979,4,0.000,0.077,2505,882,1695
$GC,9362,0.96,277.7,463.3,5.7,448,9383,0.00,2.72,11.38,0.883,6,0.000,0.064,2505,2304,1650
$GC,9692,0.96,277.7,442.2,7.9,464,9696,0.00,2.72,0.00,0.000,4,0.000,0.074,2505,880,1649
$GC,9719,1.01,277.7,440.1,7.5,465,9724,0.00,2.67,0.00,0.000,6,0.000,0.061,2505,2302,1648
$GC,10035,1.01,277.7,416.8,7.1,480,10040,0.00,2.70,0.00,0.000,4,0.000,0.073,2505,880,1648
$GC,10075,1.05,277.7,414.2,6.4,482,10080,0.10,2.67,0.00,0.000,6,0.085,0.059,2526,2308,1648
$GC,10401,1.05,277.7,388.5,8.7,498,10406,0.00,2.70,0.00,0.000,4,0.000,0.070,2526,880,1648
$GC,10451,1.05,277.7,384.3,8.2,500,10456,0.00,2.65,0.00,0.000,6,0.000,0.058,2526,2304,1648
$GC,10767,1.05,277.7,359.1,8.0,515,10771,0.00,2.70,0.00,0.000,4,0.000,0.072,2526,880,1649
$GC,10806,1.05,277.7,355.9,8.0,517,10811,0.00,2.62,0.00,0.000,6,0.000,0.058,2526,2301,1648
$GC,11133,1.05,277.7,331.3,7.3,533,11137,0.00,2.70,0.00,0.000,4,0.000,0.071,2526,876,1649
$GC,11172,1.05,277.7,328.5,6.9,535,11177,0.00,2.65,0.00,0.000,6,0.000,0.058,2526,2301,1649
$GC,11499,1.05,277.7,305.1,7.4,551,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2301,1649
$GC,11809,1.05,277.7,275.1,10.9,566,11813,0.00,2.67,0.00,0.000,4,0.000,0.070,2526,880,1650
$GC,11830,1.05,277.7,272.5,11.5,567,11835,0.00,2.62,0.00,0.000,6,0.000,0.058,2526,2302,1650
$GC,12151,1.05,277.7,241.4,8.2,583,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2303,1650
$GC,12461,1.05,277.7,223.5,6.8,598,12465,0.00,2.65,0.00,0.000,4,0.000,0.068,2526,880,1650
$GC,12488,1.05,277.7,221.3,7.6,599,12492,0.00,2.62,0.00,0.000,6,0.000,0.057,2526,2304,1650
$GC,12803,1.05,281.4,198.9,5.9,614,12814,0.00,2.70,5.70,0.613,4,0.000,0.081,2526,3707,1633
$GC,12844,1.05,281.4,196.5,6.5,616,12848,0.00,2.62,0.00,0.000,6,0.000,0.061,2526,2298,1633
$GC,13170,1.05,281.4,173.4,7.3,632,13174,0.00,2.62,0.00,0.000,4,0.000,0.067,2526,880,1633
$GC,13232,1.05,281.4,168.2,8.8,635,13236,0.00,2.62,0.00,0.000,6,0.000,0.055,2526,2301,1633
$GC,13560,1.05,281.4,138.7,8.8,651,13565,0.00,2.65,0.00,0.000,4,0.000,0.067,2526,880,1633
$GC,13605,1.05,281.4,134.8,8.2,653,13609,0.00,2.62,0.00,0.000,6,0.000,0.055,2527,2306,1633
$GC,13926,1.05,281.4,107.9,7.5,669,13930,0.00,2.65,0.00,0.000,4,0.000,0.066,2526,880,1634
$GC,13965,1.05,281.4,105.0,7.7,671,13970,0.00,2.60,0.00,0.000,6,0.000,0.055,2526,2301,1634
$GC,14292,1.05,281.4,81.8,8.1,687,14297,0.00,2.65,0.00,0.000,4,0.000,0.066,2526,878,1634
$GC,14337,1.05,281.4,77.9,9.4,689,14341,0.00,2.60,0.00,0.000,6,0.000,0.056,2526,2299,1634
$GC,14658,1.05,281.4,52.8,7.6,705,14662,0.00,2.65,0.00,0.000,4,0.000,0.066,2527,875,1635
$GC,14730,1.05,281.4,47.0,8.3,708,14734,0.00,2.60,0.00,0.000,6,0.000,0.055,2526,2301,1635
$GC,15047,1.05,281.4,23.2,7.6,723,15052,0.00,2.67,0.00,0.000,4,0.000,0.078,2526,3712,1636
$GC,15064,1.05,281.4,21.8,7.5,724,15069,0.00,2.58,0.00,0.000,6,0.000,0.058,2526,2298,1636
$STATE,15326,end climb,SURFACE_DEPTH_REACHED
$STATE,15327,begin surface coast
$FINISH,0.6,1.005219
$STATE,15349,end surface coast,CONTROL_FINISHED_OK
$STATE,15351,begin surface
$SM_CCo,15372,9.32,0.555,0,0,1557,300.00
$SM_GC,2.48,0.00,0.00,9.32,0.000,0.000,0.555,73,2298,1557,-10.24,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1859
$TCM_TEMP,16.80
$XPDR_PINGS,32
$ALTIM_TOP_PING,19.0,18.7
$ALTIM_BOTTOM_PING,500.2,66.6
$24V_AH,23.6,8.662
$10V_AH,10.1,3.796
$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
$DEVICE_SECS,23.975,158.875,383.825,9.325,0.000,33.319,39.518,126.811,12.250,0.000,0.000,32.287,1372.664,11722.779,541.357,1623.292,457.789,33.357,1373.464,0.000,1570.940,0.000,29.918
$DEVICE_MAMPS,164.138,95.875,1020.110,555.308,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.874,501.206,494.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,738
$CAP_FILE_SIZE,114316,0
$CFSIZE,260165632,256462848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120608,120258,6025.624,-551.089,38,2.4,57,-7.2