version: 66.03
glider: 16
mission: 9
dive: 62
start: 6 19 108 14 56 7
data:
$ID,16
$MISSION,9
$DIVE,62
$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,557.32159
$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,-2093986.8
$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,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,24
$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
$GPS1,144854,6042.062,-730.142,36,1.7,38,-8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-47.4
$GPS2,145515,6042.025,-729.867,14,1.6,14,-8.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_4
$TGT_LATLONG,6045.000,-730.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.193,0.108
$KALMAN_X,-100823.9,-370.7,4776.5,-23737.3,-31226.8
$KALMAN_Y,-67250.5,232.2,864.3,55736.5,-11864.8
$MHEAD_RNG_PITCHd_Wd,6.9,5511,-16.2,-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,-1.10,-77.0,0.0,0.0,0,149,0.00,0.00,-120.68,0.000,2,0.000,0.000,72,2316,2959
$GC,152,-1.16,-136.4,3.4,-2.9,6,179,10.95,2.70,-9.52,0.000,4,0.168,0.075,2038,873,3337
$GC,327,-0.99,-136.4,33.1,-16.2,14,332,0.25,2.62,0.00,0.000,6,0.114,0.054,2084,2295,3338
$GC,654,-0.92,-136.4,77.7,-14.0,30,659,0.00,2.65,0.00,0.000,4,0.000,0.067,2084,878,3337
$GC,766,-0.92,-136.4,92.7,-13.1,35,771,0.00,2.62,0.00,0.000,6,0.000,0.054,2084,2304,3337
$GC,1087,-0.86,-136.4,134.7,-12.9,51,1093,0.15,2.67,0.00,0.000,4,0.108,0.067,2116,877,3337
$GC,1143,-0.95,-136.4,141.2,-10.1,53,1150,0.00,2.60,0.00,0.000,6,0.000,0.053,2116,2303,3337
$GC,1459,-0.95,-136.4,171.1,-8.9,69,1463,0.00,2.67,0.00,0.000,4,0.000,0.067,2116,873,3337
$GC,1509,-1.04,-136.4,175.4,-8.0,71,1514,0.20,2.60,0.00,0.000,6,0.041,0.054,2058,2300,3337
$GC,1825,-0.91,-136.4,214.8,-13.0,86,1827,0.22,0.00,0.00,0.000,6,0.094,0.000,2102,2300,3337
$GC,2135,-0.91,-136.4,251.0,-11.8,101,2139,0.00,2.65,0.00,0.000,4,0.000,0.069,2102,880,3337
$GC,2213,-0.96,-136.4,260.7,-12.9,104,2218,0.00,2.62,0.00,0.000,6,0.000,0.054,2102,2307,3337
$GC,2528,-0.96,-136.4,298.6,-12.1,120,2533,0.00,2.70,0.00,0.000,4,0.000,0.069,2102,871,3337
$GC,2573,-1.02,-136.4,304.0,-11.5,122,2578,0.12,2.62,0.00,0.000,6,0.049,0.054,2064,2302,3337
$GC,2894,-0.92,-136.4,347.3,-13.3,138,2899,0.17,2.67,0.00,0.000,4,0.097,0.070,2099,877,3337
$GC,2973,-0.97,-136.4,356.5,-11.3,141,2979,0.00,2.60,0.00,0.000,6,0.000,0.054,2099,2298,3337
$GC,3288,-0.97,-136.4,396.1,-13.3,157,3293,0.00,2.65,0.00,0.000,4,0.000,0.070,2099,879,3337
$GC,3412,-1.02,-136.4,412.8,-13.0,162,3418,0.00,2.60,0.00,0.000,6,0.000,0.054,2099,2302,3337
$GC,3727,-1.02,-136.4,449.1,-10.8,178,3732,0.00,2.67,0.00,0.000,4,0.000,0.071,2100,879,3336
$GC,3845,-1.07,-136.4,463.7,-12.5,183,3850,0.15,2.60,0.00,0.000,6,0.046,0.054,2054,2306,3337
$GC,4161,-0.95,-136.4,505.3,-12.3,198,4166,0.17,2.67,0.00,0.000,4,0.097,0.069,2090,880,3337
$GC,4224,-0.95,-136.4,511.2,-9.2,201,4228,0.00,2.60,0.00,0.000,6,0.000,0.054,2090,2304,3336
$GC,4550,-0.95,-136.4,538.9,-8.5,217,4555,0.00,2.67,0.00,0.000,4,0.000,0.070,2090,878,3336
$GC,4662,-0.95,-136.4,548.5,-8.1,222,4666,0.00,2.60,0.00,0.000,6,0.000,0.055,2090,2305,3336
$GC,4983,-0.95,-136.4,576.8,-9.0,238,4987,0.00,2.67,0.00,0.000,4,0.000,0.069,2090,877,3335
$GC,5112,-0.95,-136.4,588.1,-9.6,244,5116,0.00,2.62,0.00,0.000,6,0.000,0.057,2090,2299,3335
$GC,5438,-0.95,-136.4,616.1,-7.8,260,5442,0.00,2.67,0.00,0.000,4,0.000,0.071,2090,877,3335
$GC,5505,-1.00,-136.4,621.5,-8.2,263,5509,0.00,2.62,0.00,0.000,6,0.000,0.058,2090,2302,3335
$GC,5825,-1.00,-136.4,646.8,-7.8,279,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2302,3335
$GC,6135,-1.01,-142.9,666.3,-5.7,294,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2302,3333
$GC,6444,-1.01,-142.9,688.3,-8.4,309,6448,0.00,2.72,0.00,0.000,4,0.000,0.089,2090,3711,3332
$GC,6476,-1.01,-142.9,691.4,-9.4,310,6483,0.00,2.65,0.00,0.000,6,0.000,0.067,2090,2292,3332
$GC,6793,-1.01,-142.9,721.2,-10.6,326,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2292,3330
$GC,7102,-1.01,-142.9,757.1,-11.9,341,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2292,3329
$GC,7411,-1.01,-142.9,787.4,-8.9,356,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2292,3328
$GC,7721,-1.01,-142.9,816.8,-10.8,371,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2291,3326
$GC,8029,-1.01,-142.9,843.1,-8.6,386,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2290,3324
$GC,8339,-1.01,-142.9,874.7,-10.6,401,8348,0.00,2.67,0.00,0.000,4,0.000,0.086,2090,890,3323
$GC,8416,-1.06,-142.9,882.8,-9.8,404,8420,0.00,2.65,0.00,0.000,6,0.000,0.067,2090,2299,3324
$GC,8736,-1.06,-142.9,904.3,-7.1,420,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2300,3322
$GC,9046,-1.06,-142.9,936.2,-10.6,435,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2300,3321
$STATE,9332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9332,begin apogee
$GC,9339,-0.31,0.0,965.1,8.1,449,9467,0.70,0.00,124.70,1.341,6,0.117,0.000,2226,2194,2781
$STATE,9467,end apogee,CONTROL_FINISHED_OK
$STATE,9468,begin climb
$GC,9470,1.17,142.9,969.3,0.0,455,9614,1.55,2.83,133.02,1.310,4,0.084,0.085,2549,3612,2198
$GC,9740,1.10,142.9,950.4,12.8,467,9745,0.00,2.67,0.00,0.000,6,0.000,0.064,2548,2194,2198
$GC,10056,1.05,142.9,924.3,9.0,482,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2194,2197
$GC,10365,1.05,142.9,899.0,9.8,497,10369,0.00,2.78,0.00,0.000,4,0.000,0.085,2548,3616,2197
$GC,10443,1.09,179.4,892.2,4.1,500,10483,0.00,2.67,34.50,1.250,6,0.000,0.068,2548,2197,2049
$GC,10800,1.09,179.4,860.0,11.4,518,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2197,2048
$GC,11109,1.09,179.4,815.7,13.5,533,11113,0.00,2.78,0.00,0.000,4,0.000,0.087,2548,3618,2048
$GC,11187,1.03,179.4,805.9,12.4,536,11193,0.12,2.70,0.00,0.000,6,0.109,0.071,2525,2196,2047
$GC,11502,1.03,179.4,787.5,7.8,552,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2196,2047
$GC,11811,1.03,179.4,761.0,8.3,567,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2196,2046
$GC,12121,1.08,179.4,732.1,12.9,582,12126,0.00,2.75,0.00,0.000,4,0.000,0.088,2525,3613,2046
$GC,12193,1.10,198.6,726.0,5.0,585,12218,0.00,2.67,18.12,1.134,6,0.000,0.071,2525,2202,1971
$GC,12536,1.16,198.6,690.5,10.0,602,12538,0.12,0.00,0.00,0.000,6,0.064,0.000,2557,2202,1970
$GC,12845,1.16,198.6,658.1,11.4,617,12849,0.00,2.75,0.00,0.000,4,0.000,0.089,2557,3612,1970
$GC,12999,1.07,198.6,638.5,11.6,624,13004,0.12,2.70,0.00,0.000,6,0.114,0.074,2535,2196,1970
$GC,13326,1.07,198.6,607.9,9.1,640,13330,0.00,2.78,0.00,0.000,4,0.000,0.089,2535,3615,1969
$GC,13410,1.07,198.6,598.7,11.5,644,13414,0.00,2.70,0.00,0.000,6,0.000,0.073,2536,2196,1970
$GC,13736,1.07,198.6,561.5,11.7,660,13741,0.00,2.78,0.00,0.000,4,0.000,0.088,2535,3619,1968
$GC,13965,1.07,198.6,533.1,11.7,670,13970,0.00,2.70,0.00,0.000,6,0.000,0.073,2535,2202,1969
$GC,14281,1.07,198.6,499.7,10.1,685,14285,0.00,2.70,0.00,0.000,4,0.000,0.081,2535,782,1968
$GC,14343,1.07,198.6,493.3,10.7,688,14347,0.00,2.65,0.00,0.000,6,0.000,0.060,2535,2203,1968
$GC,14669,1.07,198.6,462.0,8.9,704,14673,0.00,2.72,0.00,0.000,4,0.000,0.088,2535,3613,1968
$GC,14803,1.07,198.6,449.6,8.7,710,14807,0.00,2.67,0.00,0.000,6,0.000,0.071,2535,2199,1968
$GC,15124,1.12,198.6,427.2,7.1,726,15129,0.00,2.75,0.00,0.000,4,0.000,0.085,2535,3619,1968
$GC,15281,1.12,198.6,413.6,8.0,733,15285,0.00,2.70,0.00,0.000,6,0.000,0.071,2535,2193,1968
$GC,15601,1.12,198.6,387.7,9.7,749,15606,0.00,2.72,0.00,0.000,4,0.000,0.083,2535,3616,1968
$GC,15674,1.12,198.6,379.8,10.2,752,15678,0.00,2.67,0.00,0.000,6,0.000,0.070,2535,2201,1969
$GC,15989,1.12,198.6,350.3,8.4,767,15994,0.00,2.72,0.00,0.000,4,0.000,0.082,2535,3616,1968
$GC,16074,1.12,198.6,343.1,8.8,771,16079,0.00,2.67,0.00,0.000,6,0.000,0.069,2535,2199,1970
$GC,16400,1.12,198.6,312.2,9.9,787,16405,0.00,2.72,0.00,0.000,4,0.000,0.081,2535,3616,1971
$GC,16445,1.12,198.6,307.8,9.3,789,16449,0.00,2.67,0.00,0.000,6,0.000,0.068,2535,2199,1971
$GC,16766,1.17,198.6,282.9,8.0,805,16767,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2199,1972
$GC,17075,1.22,198.6,262.9,6.4,820,17080,0.15,2.72,0.00,0.000,4,0.048,0.077,2579,3622,1972
$GC,17142,1.10,198.6,257.0,9.4,823,17148,0.20,2.67,0.00,0.000,6,0.094,0.067,2540,2191,1973
$GC,17464,1.15,198.6,236.2,6.4,839,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2193,1973
$GC,17773,1.15,202.0,217.3,5.8,854,17784,0.00,2.72,5.60,0.621,4,0.000,0.077,2540,3614,1956
$GC,17907,1.15,202.0,207.7,7.5,860,17912,0.00,2.65,0.00,0.000,6,0.000,0.064,2540,2200,1957
$GC,18230,1.20,202.0,184.1,8.3,876,18231,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2200,1957
$GC,18539,1.25,202.0,157.8,8.5,891,18544,0.15,2.70,0.00,0.000,4,0.048,0.077,2589,3618,1958
$GC,18601,1.13,202.0,150.8,13.3,894,18606,0.22,2.65,0.00,0.000,6,0.095,0.064,2546,2197,1958
$GC,18929,1.13,202.0,118.1,10.3,910,18930,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2197,1959
$GC,19238,1.13,202.0,85.8,9.5,925,19242,0.00,2.70,0.00,0.000,4,0.000,0.077,2546,3616,1959
$GC,19394,1.13,202.0,70.4,9.2,932,19398,0.00,2.62,0.00,0.000,6,0.000,0.062,2546,2201,1960
$GC,19716,1.13,202.0,43.3,8.7,948,19718,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2200,1960
$GC,20025,1.18,202.0,15.9,8.0,963,20029,0.00,2.70,0.00,0.000,4,0.000,0.077,2546,3619,1961
$GC,20102,1.18,202.0,9.6,9.3,966,20109,0.00,2.62,0.00,0.000,6,0.000,0.062,2546,2201,1962
$STATE,20189,end climb,SURFACE_DEPTH_REACHED
$STATE,20189,begin surface coast
$FINISH,0.7,1.027227
$STATE,20212,end surface coast,CONTROL_FINISHED_OK
$STATE,20212,begin surface
$SM_CCo,20234,171.02,0.613,0,0,509,557.32
$SM_GC,1.13,0.00,0.00,171.02,0.000,0.000,0.613,70,2308,509,-10.25,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1815
$TCM_TEMP,17.80
$XPDR_PINGS,49
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,900.1,73.6
$24V_AH,23.4,13.033
$10V_AH,10.1,6.517
$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,26.375,177.200,315.950,171.025,0.000,36.881,52.161,130.677,20.750,0.000,0.000,14.728,1832.497,15424.936,691.625,2326.000,525.649,33.356,1840.052,0.000,2269.510,0.000,58.907
$DEVICE_MAMPS,167.973,88.972,1341.483,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.498,664.687,520.392,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50427,972
$CAP_FILE_SIZE,151723,0
$CFSIZE,260165632,254447616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190608,203751,6045.983,-732.654,37,3.5,57,-8.2