version: 66.03
glider: 16
mission: 9
dive: 39
start: 6 12 108 16 54 41
data:
$ID,16
$MISSION,9
$DIVE,39
$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,-2093345.5
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,164831,6023.698,-545.861,58,1.2,64,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-56.3
$GPS2,165350,6023.676,-545.686,14,1.2,31,-7.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_1
$TGT_LATLONG,6010.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-2430.1,-296.1,-31.3,-23224.9,5240.5
$KALMAN_Y,-18566.2,-713.5,-522.5,-24589.5,11573.1
$MHEAD_RNG_PITCHd_Wd,222.2,30953,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,88,0.00,0.00,-60.72,0.000,2,0.000,0.000,69,2306,2777
$GC,92,-0.85,-146.6,3.3,-4.3,3,127,11.23,2.67,-17.85,0.000,4,0.162,0.086,2107,3710,3380
$GC,329,-0.64,-146.6,31.4,-12.1,13,336,0.25,2.58,0.00,0.000,6,0.091,0.055,2157,2298,3381
$GC,645,-0.64,-146.6,60.3,-9.1,29,650,0.00,2.62,0.00,0.000,4,0.000,0.065,2157,878,3381
$GC,723,-0.64,-146.6,67.3,-8.5,32,730,0.00,2.62,0.00,0.000,6,0.000,0.057,2157,2304,3381
$GC,1040,-0.64,-146.6,87.7,-5.6,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2305,3382
$GC,1348,-0.64,-146.6,110.4,-8.1,63,1353,0.00,2.65,0.00,0.000,4,0.000,0.062,2157,873,3382
$GC,1382,-0.64,-146.6,113.3,-8.8,64,1388,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2300,3382
$GC,1699,-0.64,-146.6,139.3,-7.8,80,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2300,3382
$GC,2006,-0.64,-146.6,161.5,-7.1,95,2011,0.00,2.62,0.00,0.000,4,0.000,0.064,2157,880,3382
$GC,2039,-0.64,-146.6,163.8,-6.9,96,2045,0.00,2.62,0.00,0.000,6,0.000,0.059,2155,2302,3382
$GC,2355,-0.64,-146.6,186.3,-7.3,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3382
$GC,2664,-0.64,-146.6,210.1,-8.2,127,2669,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,874,3382
$GC,2703,-0.64,-146.6,213.6,-8.8,129,2708,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2302,3382
$GC,3030,-0.64,-146.6,240.3,-7.9,145,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2302,3382
$GC,3339,-0.64,-146.6,266.4,-8.5,160,3343,0.00,2.62,0.00,0.000,4,0.000,0.064,2157,881,3382
$GC,3378,-0.64,-146.6,269.8,-8.9,162,3383,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2303,3382
$GC,3705,-0.64,-146.6,297.4,-8.2,178,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3382
$GC,4014,-0.64,-146.6,321.6,-7.7,193,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3382
$GC,4324,-0.64,-146.6,346.3,-7.8,208,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3382
$GC,4633,-0.64,-146.6,372.8,-8.7,223,4637,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,878,3382
$GC,4662,-0.64,-146.6,375.3,-8.8,224,4666,0.00,2.62,0.00,0.000,6,0.000,0.059,2157,2303,3382
$GC,4977,-0.64,-146.6,403.3,-8.6,239,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2303,3381
$GC,5286,-0.64,-146.6,426.4,-6.7,254,5291,0.00,2.67,0.00,0.000,4,0.000,0.082,2157,3707,3382
$GC,5313,-0.64,-146.6,428.4,-7.4,255,5318,0.00,2.60,0.00,0.000,6,0.000,0.058,2157,2295,3382
$GC,5631,-0.64,-146.6,450.1,-7.2,270,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2295,3382
$GC,5938,-0.64,-146.6,470.8,-6.2,285,5942,0.00,2.62,0.00,0.000,4,0.000,0.067,2157,874,3382
$GC,5988,-0.71,-146.6,474.0,-6.7,287,5992,0.00,2.62,0.00,0.000,6,0.000,0.060,2157,2300,3382
$GC,6304,-0.71,-146.6,495.0,-6.4,302,6308,0.00,2.67,0.00,0.000,4,0.000,0.083,2157,3707,3382
$GC,6365,-0.71,-146.6,499.6,-7.5,305,6373,0.00,2.58,0.00,0.000,6,0.000,0.058,2157,2298,3382
$GC,6700,-0.71,-146.6,522.3,-6.2,321,6704,0.00,2.62,0.00,0.000,4,0.000,0.070,2157,883,3382
$GC,6733,-0.77,-146.6,524.4,-6.5,322,6740,0.12,2.62,0.00,0.000,6,0.049,0.061,2117,2302,3382
$GC,7049,-0.67,-146.6,549.5,-8.3,338,7054,0.15,2.65,0.00,0.000,4,0.091,0.067,2150,882,3381
$GC,7118,-0.72,-146.6,554.1,-6.0,341,7122,0.00,2.62,0.00,0.000,6,0.000,0.060,2150,2303,3381
$GC,7438,-0.72,-146.6,574.4,-7.1,357,7443,0.00,2.70,0.00,0.000,4,0.000,0.087,2150,3708,3380
$GC,7488,-0.72,-146.6,578.3,-8.2,359,7492,0.00,2.60,0.00,0.000,6,0.000,0.060,2150,2300,3380
$GC,7803,-0.72,-146.6,600.6,-7.0,374,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2299,3379
$GC,8113,-0.72,-146.6,620.1,-5.9,389,8117,0.00,2.65,0.00,0.000,4,0.000,0.074,2150,884,3379
$GC,8146,-0.77,-146.6,622.1,-6.5,390,8152,0.00,2.65,0.00,0.000,6,0.000,0.065,2150,2302,3379
$GC,8462,-0.77,-146.6,641.1,-6.3,406,8466,0.00,2.75,0.00,0.000,4,0.000,0.094,2150,3713,3378
$GC,8489,-0.77,-146.6,643.0,-7.2,407,8493,0.00,2.65,0.00,0.000,6,0.000,0.066,2150,2297,3378
$GC,8804,-0.77,-146.6,662.5,-6.2,422,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2297,3376
$STATE,8864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8864,begin apogee
$GC,8870,-0.31,0.0,666.5,6.5,425,9007,0.43,0.00,131.43,1.104,6,0.121,0.000,2230,2297,2781
$STATE,9007,end apogee,CONTROL_FINISHED_OK
$STATE,9007,begin climb
$GC,9010,0.85,146.6,671.8,0.0,432,9147,1.23,0.00,131.55,1.079,6,0.085,0.000,2482,2297,2182
$GC,9460,0.87,166.0,652.7,5.5,454,9484,0.00,2.78,18.38,1.015,4,0.000,0.078,2482,893,2104
$GC,9640,0.90,196.8,643.1,5.2,462,9674,0.00,2.67,28.67,1.048,6,0.000,0.068,2482,2299,1978
$GC,9991,0.91,205.5,624.3,5.8,479,10005,0.00,2.85,8.88,0.936,4,0.000,0.095,2482,3713,1943
$GC,10037,0.95,206.1,621.7,6.0,481,10042,0.12,2.70,0.00,0.000,6,0.064,0.071,2514,2301,1943
$GC,10364,0.90,206.1,599.1,7.2,497,10368,0.00,2.72,0.00,0.000,4,0.000,0.083,2514,886,1941
$GC,10426,0.83,206.1,594.6,7.3,500,10431,0.17,2.67,0.00,0.000,6,0.094,0.066,2480,2301,1941
$GC,10754,0.90,229.1,576.4,5.4,516,10783,0.00,2.90,21.88,1.039,4,0.000,0.093,2479,3714,1847
$GC,10829,0.96,233.8,572.1,5.9,519,10841,0.12,2.70,6.12,0.844,6,0.058,0.070,2513,2301,1827
$GC,11150,0.96,233.8,551.0,7.4,535,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2301,1826
$GC,11459,0.96,233.8,525.4,8.1,550,11463,0.00,2.70,0.00,0.000,4,0.000,0.079,2513,885,1825
$GC,11581,0.96,233.8,515.1,8.2,555,11588,0.00,2.65,0.00,0.000,6,0.000,0.064,2513,2301,1824
$GC,11897,0.96,233.8,490.2,7.6,571,11902,0.00,2.72,0.00,0.000,4,0.000,0.087,2513,3713,1824
$GC,11919,0.96,233.8,488.6,6.6,572,11924,0.00,2.65,0.00,0.000,6,0.000,0.067,2513,2300,1824
$GC,12241,0.97,248.9,469.4,5.6,588,12262,0.00,2.75,13.98,0.931,4,0.000,0.074,2513,878,1766
$GC,12308,0.97,248.9,465.3,6.5,591,12313,0.00,2.65,0.00,0.000,6,0.000,0.060,2513,2301,1765
$GC,12635,0.97,248.9,443.5,7.3,607,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2301,1766
$GC,12944,0.97,248.9,420.2,7.7,622,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2301,1766
$GC,13254,0.97,248.9,397.0,7.2,637,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2300,1766
$GC,13563,0.97,248.9,375.3,6.8,652,13567,0.00,2.70,0.00,0.000,4,0.000,0.082,2513,3717,1766
$GC,13602,0.97,248.9,372.5,7.1,654,13607,0.00,2.65,0.00,0.000,6,0.000,0.063,2513,2293,1767
$GC,13929,0.99,265.0,353.9,5.6,670,13948,0.00,0.00,15.85,0.841,6,0.000,0.000,2513,2293,1700
$GC,14258,0.99,265.0,334.2,6.2,686,14262,0.00,2.65,0.00,0.000,4,0.000,0.071,2513,877,1701
$GC,14298,1.00,269.5,331.7,5.9,688,14308,0.00,2.62,5.53,0.668,6,0.000,0.055,2513,2301,1682
$GC,14624,1.00,269.5,310.6,6.5,704,14628,0.00,2.65,0.00,0.000,4,0.000,0.066,2513,881,1683
$GC,14651,1.00,269.5,308.6,7.0,705,14655,0.00,2.62,0.00,0.000,6,0.000,0.056,2513,2305,1683
$GC,14966,1.00,269.5,284.2,8.0,720,14971,0.00,2.65,0.00,0.000,4,0.000,0.067,2513,883,1683
$GC,15011,1.00,269.5,280.5,8.4,722,15015,0.00,2.62,0.00,0.000,6,0.000,0.055,2513,2304,1683
$GC,15331,1.00,269.5,256.4,7.4,738,15336,0.00,2.65,0.00,0.000,4,0.000,0.067,2513,882,1684
$GC,15371,1.00,269.5,253.4,7.6,740,15376,0.00,2.62,0.00,0.000,6,0.000,0.055,2513,2304,1684
$GC,15698,1.00,269.5,230.1,7.0,756,15703,0.00,2.65,0.00,0.000,4,0.000,0.067,2513,880,1685
$GC,15748,1.00,269.5,226.4,7.5,758,15753,0.00,2.62,0.00,0.000,6,0.000,0.055,2513,2305,1685
$GC,16064,1.00,269.5,204.0,7.2,773,16068,0.00,2.65,0.00,0.000,4,0.000,0.066,2513,881,1685
$GC,16091,1.00,269.5,201.9,7.3,774,16095,0.00,2.62,0.00,0.000,6,0.000,0.054,2513,2306,1686
$GC,16406,1.00,269.5,180.8,6.3,789,16411,0.00,2.65,0.00,0.000,4,0.000,0.065,2513,881,1686
$GC,16451,1.00,269.5,177.7,7.6,791,16455,0.00,2.60,0.00,0.000,6,0.000,0.054,2513,2301,1686
$GC,16771,1.00,269.5,155.6,7.7,807,16776,0.00,2.65,0.00,0.000,4,0.000,0.064,2513,877,1687
$GC,16827,1.00,269.5,151.0,8.0,809,16833,0.00,2.62,0.00,0.000,6,0.000,0.055,2513,2305,1687
$GC,17145,1.00,269.5,128.1,7.0,825,17149,0.00,2.65,0.00,0.000,4,0.000,0.064,2513,876,1687
$GC,17184,1.00,269.5,125.2,6.5,827,17189,0.00,2.60,0.00,0.000,6,0.000,0.054,2513,2301,1687
$GC,17511,1.00,269.5,101.9,7.3,843,17515,0.00,2.65,0.00,0.000,4,0.000,0.065,2513,874,1687
$GC,17551,1.00,269.5,98.8,8.0,845,17555,0.00,2.62,0.00,0.000,6,0.000,0.054,2513,2303,1687
$GC,17877,1.00,269.5,71.4,8.0,861,17878,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2303,1688
$GC,18186,1.00,269.5,47.9,7.5,876,18191,0.00,2.65,0.00,0.000,4,0.000,0.065,2513,875,1688
$GC,18281,1.00,269.5,39.8,7.7,880,18286,0.00,2.62,0.00,0.000,6,0.000,0.054,2513,2308,1688
$GC,18598,1.05,269.5,14.2,8.2,895,18602,0.00,2.65,0.00,0.000,4,0.000,0.066,2513,881,1689
$GC,18648,1.10,269.5,9.9,8.9,897,18653,0.12,2.60,0.00,0.000,6,0.054,0.056,2547,2301,1689
$STATE,18735,end climb,SURFACE_DEPTH_REACHED
$STATE,18735,begin surface coast
$FINISH,0.6,1.027111
$STATE,18756,end surface coast,CONTROL_FINISHED_OK
$STATE,18756,begin surface
$SM_CCo,18777,15.18,0.587,0,0,1558,300.00
$SM_GC,1.55,0.00,0.00,15.18,0.000,0.000,0.587,70,2301,1558,-10.26,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1863
$TCM_TEMP,18.00
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.0,18.6
$ALTIM_BOTTOM_PING,575.2,100.9
$24V_AH,23.5,8.918
$10V_AH,10.1,3.962
$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,24.650,185.825,382.250,15.175,0.000,17.982,26.846,140.356,15.500,0.000,0.000,31.865,1669.513,14402.160,567.598,1992.751,481.494,33.363,1569.836,0.000,1932.354,0.000,34.887
$DEVICE_MAMPS,161.837,95.108,1104.480,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.267,613.316,557.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47328,902
$CAP_FILE_SIZE,138304,0
$CFSIZE,260165632,256307200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120608,220928,6020.748,-542.909,35,2.8,54,-7.1