version: 66.03
glider: 16
mission: 9
dive: 153
start: 7 6 108 20 18 0
data:
$ID,16
$MISSION,9
$DIVE,153
$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,412.5
$T_MISSION,440
$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,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,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,-2096181.2
$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,17
$R_STBD_OVSHOOT,25
$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
$GPS1,200807,6211.489,-1011.121,29,1.3,29,-10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-48.9
$GPS2,201745,6211.558,-1011.194,11,1.5,11,-10.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,297.4,21496,-14.8,-8.000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.08,-146.6,0.0,0.0,0,147,0.00,0.00,-120.45,0.000,2,0.000,0.000,70,2307,3019
$GC,151,-1.08,-146.6,4.2,-3.4,6,176,11.07,2.67,-7.93,0.000,4,0.166,0.081,2057,3696,3382
$GC,356,-0.89,-146.6,41.6,-15.9,15,361,0.22,2.58,0.00,0.000,6,0.100,0.054,2100,2298,3382
$GC,678,-0.85,-146.6,77.8,-9.7,31,682,0.00,2.62,0.00,0.000,4,0.000,0.065,2100,881,3382
$GC,778,-0.85,-146.6,89.3,-11.7,35,785,0.00,2.60,0.00,0.000,6,0.000,0.052,2100,2300,3382
$GC,1095,-0.80,-146.6,125.9,-11.5,51,1097,0.12,0.00,0.00,0.000,6,0.106,0.000,2123,2300,3383
$GC,1404,-0.80,-146.6,153.8,-8.5,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2300,3382
$GC,1713,-0.80,-146.6,180.0,-8.6,81,1717,0.00,2.65,0.00,0.000,4,0.000,0.065,2124,881,3382
$GC,1757,-0.87,-146.6,183.9,-8.4,83,1762,0.00,2.60,0.00,0.000,6,0.000,0.053,2123,2304,3382
$GC,2078,-0.87,-146.6,211.0,-8.6,99,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2305,3382
$GC,2387,-0.87,-146.6,237.4,-8.3,114,2391,0.00,2.67,0.00,0.000,4,0.000,0.065,2124,875,3382
$GC,2431,-0.95,-146.6,241.0,-7.7,116,2436,0.15,2.62,0.00,0.000,6,0.045,0.053,2079,2303,3382
$GC,2753,-0.85,-146.6,274.9,-10.6,132,2759,0.15,2.67,0.00,0.000,4,0.094,0.074,2112,3717,3382
$GC,2786,-0.85,-146.6,278.6,-10.0,133,2791,0.00,2.60,0.00,0.000,6,0.000,0.057,2112,2299,3382
$GC,3102,-0.85,-146.6,307.8,-9.5,148,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2299,3382
$GC,3412,-0.85,-146.6,337.0,-9.4,163,3416,0.00,2.65,0.00,0.000,4,0.000,0.067,2112,881,3382
$GC,3444,-0.85,-146.6,340.2,-9.5,164,3450,0.00,2.62,0.00,0.000,6,0.000,0.054,2112,2307,3382
$GC,3760,-0.85,-146.6,370.3,-9.5,180,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2307,3382
$GC,4070,-0.85,-146.6,400.3,-9.8,195,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2306,3382
$GC,4378,-0.85,-146.6,432.0,-10.3,210,4383,0.00,2.67,0.00,0.000,4,0.000,0.065,2112,874,3381
$GC,4456,-0.89,-146.6,440.1,-10.3,213,4462,0.00,2.62,0.00,0.000,6,0.000,0.054,2112,2306,3381
$GC,4772,-0.89,-146.6,472.1,-10.0,229,4776,0.00,2.67,0.00,0.000,4,0.000,0.066,2112,881,3381
$GC,4844,-0.94,-146.6,479.4,-9.8,232,4849,0.00,2.60,0.00,0.000,6,0.000,0.054,2112,2302,3381
$GC,5161,-0.94,-146.6,510.7,-9.9,247,5165,0.00,2.67,0.00,0.000,4,0.000,0.065,2112,874,3381
$GC,5223,-0.99,-146.6,516.5,-9.3,250,5228,0.12,2.62,0.00,0.000,6,0.048,0.054,2074,2307,3381
$GC,5552,-0.88,-146.6,552.2,-10.9,266,5557,0.17,2.67,0.00,0.000,4,0.094,0.065,2110,881,3381
$GC,5608,-0.94,-146.6,557.7,-8.4,268,5614,0.00,2.60,0.00,0.000,6,0.000,0.054,2109,2300,3381
$GC,5924,-0.94,-146.6,584.8,-8.5,284,5928,0.00,2.65,0.00,0.000,4,0.000,0.064,2111,881,3380
$GC,5974,-1.00,-146.6,589.1,-8.4,286,5979,0.15,2.60,0.00,0.000,6,0.045,0.054,2066,2305,3381
$GC,6290,-0.89,-146.6,624.7,-11.7,301,6296,0.17,2.65,0.00,0.000,4,0.094,0.064,2103,884,3380
$GC,6359,-0.93,-146.6,631.9,-10.4,304,6364,0.00,2.60,0.00,0.000,6,0.000,0.054,2104,2302,3380
$GC,6686,-0.93,-146.6,666.1,-10.9,320,6691,0.00,2.65,0.00,0.000,4,0.000,0.064,2103,881,3380
$GC,6764,-0.93,-146.6,674.8,-10.4,323,6771,0.00,2.60,0.00,0.000,6,0.000,0.054,2103,2303,3380
$GC,7080,-0.93,-146.6,709.9,-11.2,339,7085,0.00,2.65,0.00,0.000,4,0.000,0.064,2103,881,3380
$GC,7121,-0.93,-146.6,714.1,-10.9,341,7125,0.00,2.60,0.00,0.000,6,0.000,0.055,2103,2300,3380
$GC,7447,-0.93,-146.6,743.7,-8.0,357,7452,0.00,2.65,0.00,0.000,4,0.000,0.064,2103,881,3380
$GC,7536,-0.98,-146.6,750.5,-8.3,361,7541,0.00,2.60,0.00,0.000,6,0.000,0.056,2104,2300,3380
$GC,7866,-0.98,-146.6,776.4,-7.6,377,7871,0.00,2.67,0.00,0.000,4,0.000,0.066,2103,879,3379
$GC,7934,-1.05,-146.6,782.0,-8.4,380,7939,0.15,2.62,0.00,0.000,6,0.046,0.058,2059,2305,3379
$GC,8256,-0.93,-146.6,816.0,-11.2,396,8258,0.17,0.00,0.00,0.000,6,0.096,0.000,2093,2304,3379
$STATE,8335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8335,begin apogee
$GC,8342,-0.31,0.0,824.0,9.7,400,8479,0.68,0.00,133.88,1.180,6,0.098,0.000,2229,2192,2782
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8483,1.08,146.6,830.0,0.0,407,8620,1.48,0.00,131.88,1.162,6,0.077,0.000,2536,2192,2183
$GC,8928,1.12,182.1,806.9,6.7,429,8970,0.00,2.83,32.60,1.116,4,0.000,0.081,2536,3600,2038
$GC,9071,1.12,182.1,795.7,8.7,435,9076,0.00,2.65,0.00,0.000,6,0.000,0.063,2537,2197,2038
$GC,9387,1.12,182.1,770.8,8.1,450,9391,0.00,2.72,0.00,0.000,4,0.000,0.081,2536,3607,2037
$GC,9453,1.12,182.1,764.7,9.3,453,9457,0.00,2.65,0.00,0.000,6,0.000,0.061,2536,2199,2037
$GC,9774,1.13,188.4,739.2,7.8,469,9783,0.00,0.00,7.15,0.920,6,0.000,0.000,2536,2199,2011
$GC,10083,1.15,206.2,716.6,7.4,484,10105,0.00,2.78,16.77,1.055,4,0.000,0.079,2538,3607,1940
$GC,10197,1.15,206.2,707.3,9.0,489,10201,0.00,2.65,0.00,0.000,6,0.000,0.059,2536,2199,1940
$GC,10523,1.20,210.7,682.0,7.8,505,10535,0.12,2.75,5.47,0.819,4,0.053,0.076,2573,3615,1921
$GC,10591,1.10,210.7,675.0,10.8,508,10596,0.17,2.65,0.00,0.000,6,0.096,0.058,2539,2197,1921
$GC,10913,1.10,210.7,644.9,9.6,524,10917,0.00,2.70,0.00,0.000,4,0.000,0.074,2540,3608,1921
$GC,10980,1.06,210.7,638.0,10.8,527,10984,0.00,2.62,0.00,0.000,6,0.000,0.058,2539,2199,1921
$GC,11301,1.06,210.7,608.4,9.4,543,11305,0.00,2.70,0.00,0.000,4,0.000,0.073,2539,3616,1921
$GC,11363,1.01,210.7,602.1,10.5,546,11368,0.00,2.62,0.00,0.000,6,0.000,0.057,2539,2202,1921
$GC,11690,1.01,210.7,572.3,8.9,562,11694,0.00,2.67,0.00,0.000,4,0.000,0.073,2539,3609,1921
$GC,11752,1.01,210.7,566.6,9.5,565,11756,0.00,2.62,0.00,0.000,6,0.000,0.057,2539,2198,1921
$GC,12078,1.01,210.7,538.5,8.5,581,12083,0.00,2.67,0.00,0.000,4,0.000,0.072,2539,3609,1921
$GC,12192,1.01,210.7,527.6,9.7,586,12196,0.00,2.60,0.00,0.000,6,0.000,0.058,2539,2197,1921
$GC,12512,1.01,210.7,499.7,8.4,602,12517,0.00,2.67,0.00,0.000,4,0.000,0.072,2539,3615,1921
$GC,12602,1.01,210.7,491.3,9.5,606,12606,0.00,2.62,0.00,0.000,6,0.000,0.058,2539,2190,1921
$GC,12923,1.01,210.7,464.9,8.2,622,12927,0.00,2.67,0.00,0.000,4,0.000,0.073,2539,3610,1922
$GC,13000,1.01,210.7,457.7,8.9,625,13006,0.00,2.60,0.00,0.000,6,0.000,0.059,2539,2199,1922
$GC,13316,1.02,220.2,433.2,7.7,641,13332,0.00,2.70,10.12,0.818,4,0.000,0.074,2539,3610,1882
$GC,13427,1.02,220.2,423.5,8.5,645,13432,0.00,2.62,0.00,0.000,6,0.000,0.060,2539,2200,1882
$GC,13750,1.02,220.2,397.2,8.0,661,13754,0.00,2.67,0.00,0.000,4,0.000,0.074,2539,3613,1882
$GC,13829,1.02,220.2,390.1,9.0,664,13835,0.00,2.62,0.00,0.000,6,0.000,0.061,2539,2196,1882
$GC,14144,1.02,220.2,363.2,8.9,680,14149,0.00,2.67,0.00,0.000,4,0.000,0.072,2539,3613,1883
$GC,14211,1.02,220.2,356.5,9.7,683,14216,0.00,2.62,0.00,0.000,6,0.000,0.061,2539,2199,1883
$GC,14533,1.02,220.2,328.5,8.6,699,14537,0.00,2.67,0.00,0.000,4,0.000,0.072,2539,3619,1883
$GC,14582,1.02,220.2,323.8,9.8,701,14587,0.00,2.62,0.00,0.000,6,0.000,0.061,2539,2199,1883
$GC,14898,1.02,220.2,297.4,8.2,716,14902,0.00,2.65,0.00,0.000,4,0.000,0.072,2539,3610,1883
$GC,14953,1.02,220.2,292.5,9.2,718,14959,0.00,2.60,0.00,0.000,6,0.000,0.061,2539,2199,1883
$GC,15269,1.02,220.2,266.9,8.2,734,15273,0.00,2.65,0.00,0.000,4,0.000,0.072,2541,3610,1883
$GC,15318,1.02,220.2,262.3,9.4,736,15323,0.00,2.62,0.00,0.000,6,0.000,0.061,2539,2194,1884
$GC,15635,1.02,220.2,235.4,8.5,751,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2194,1884
$GC,15943,1.02,220.2,208.1,9.1,766,15948,0.00,2.67,0.00,0.000,4,0.000,0.072,2539,3615,1884
$GC,16056,1.02,220.2,196.9,10.0,771,16061,0.00,2.62,0.00,0.000,6,0.000,0.061,2539,2195,1884
$GC,16377,1.02,220.2,167.1,9.1,787,16381,0.00,2.65,0.00,0.000,4,0.000,0.071,2539,3610,1884
$GC,16449,1.02,220.2,160.0,9.6,790,16453,0.00,2.60,0.00,0.000,6,0.000,0.060,2539,2202,1884
$GC,16767,1.02,220.2,133.0,8.4,805,16771,0.00,2.65,0.00,0.000,4,0.000,0.071,2537,3612,1884
$GC,16811,1.02,220.2,128.7,8.9,807,16815,0.00,2.60,0.00,0.000,6,0.000,0.059,2539,2200,1884
$GC,17132,1.04,236.7,103.9,7.4,823,17154,0.00,2.70,15.50,0.677,4,0.000,0.070,2539,3614,1816
$GC,17224,1.04,236.7,96.0,9.1,827,17228,0.00,2.65,0.00,0.000,6,0.000,0.061,2539,2196,1815
$GC,17550,1.04,236.7,67.5,9.4,843,17551,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2196,1815
$GC,17860,1.04,236.7,40.7,8.1,858,17864,0.00,2.65,0.00,0.000,4,0.000,0.070,2539,3610,1816
$GC,17967,1.04,236.7,30.4,10.5,863,17972,0.00,2.62,0.00,0.000,6,0.000,0.060,2539,2193,1816
$GC,18294,1.04,236.7,2.9,9.1,879,18298,0.00,2.65,0.00,0.000,4,0.000,0.067,2539,3613,1816
$STATE,18301,end climb,SURFACE_DEPTH_REACHED
$STATE,18301,begin surface coast
$FINISH,0.6,1.027031
$STATE,18325,end surface coast,CONTROL_FINISHED_OK
$STATE,18325,begin surface
$SM_CCo,18349,154.40,0.617,0,0,509,557.57
$SM_GC,1.14,0.00,0.00,154.40,0.000,0.000,0.617,71,2293,509,-10.25,-0.20,557.57
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1859
$TCM_TEMP,19.90
$XPDR_PINGS,25
$ALTIM_TOP_PING,18.8,17.8
$ALTIM_BOTTOM_PING,776.4,57.0
$24V_AH,23.6,27.341
$10V_AH,10.2,13.454
$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,25.850,201.275,353.375,154.400,0.000,36.073,64.216,284.165,13.500,0.000,0.000,11.874,1677.021,13860.793,728.606,2101.925,712.691,0.000,1790.116,0.000,2048.387,0.000,50.701
$DEVICE_MAMPS,166.439,81.302,1179.646,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.848,606.976,507.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44286,880
$CAP_FILE_SIZE,149889,0
$CFSIZE,260165632,249286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070708,012738,6212.796,-1014.552,34,1.4,34,-10.2