version: 66.03
glider: 16
mission: 9
dive: 165
start: 7 9 108 9 10 28
data:
$ID,16
$MISSION,9
$DIVE,165
$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,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,-2096412.6
$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,2200
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,16
$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
$GPS1,090402,6229.736,-1127.486,37,1.5,38,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.0
$GPS2,091009,6229.745,-1127.561,13,1.2,13,-10.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$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,283.4,10648,-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,-146.6,0.0,0.0,0,149,0.00,0.00,-121.25,0.000,2,0.000,0.000,69,2184,3078
$GC,153,-0.85,-146.6,4.7,-3.9,6,178,11.43,2.78,-6.28,0.000,4,0.168,0.085,2108,3616,3382
$GC,431,-0.63,-146.6,44.7,-11.8,18,436,0.25,2.58,0.00,0.000,6,0.092,0.052,2157,2210,3381
$GC,748,-0.59,-146.6,70.8,-7.6,33,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2209,3381
$GC,1056,-0.59,-146.6,92.1,-7.1,48,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2209,3381
$GC,1367,-0.59,-146.6,113.0,-6.8,63,1371,0.00,2.65,0.00,0.000,4,0.000,0.062,2157,778,3381
$GC,1399,-0.59,-146.6,115.4,-7.0,64,1406,0.00,2.62,0.00,0.000,6,0.000,0.054,2157,2202,3381
$GC,1716,-0.59,-146.6,137.3,-7.3,80,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2202,3382
$GC,2024,-0.59,-146.6,161.3,-8.0,95,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2202,3381
$GC,2333,-0.59,-146.6,185.4,-7.5,110,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2201,3382
$GC,2643,-0.59,-146.6,207.8,-7.3,125,2647,0.00,2.65,0.00,0.000,4,0.000,0.064,2157,781,3382
$GC,2675,-0.59,-146.6,210.3,-8.2,126,2681,0.00,2.62,0.00,0.000,6,0.000,0.053,2157,2205,3382
$GC,2991,-0.59,-146.6,233.0,-7.3,142,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2205,3381
$GC,3300,-0.59,-146.6,255.8,-7.6,157,3305,0.00,2.67,0.00,0.000,4,0.000,0.077,2157,3620,3381
$GC,3339,-0.59,-146.6,258.9,-8.2,159,3344,0.00,2.60,0.00,0.000,6,0.000,0.054,2157,2200,3381
$GC,3666,-0.59,-146.6,284.4,-7.8,175,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3381
$GC,3976,-0.59,-146.6,308.4,-7.8,190,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3381
$GC,4285,-0.59,-146.6,331.2,-7.5,205,4289,0.00,2.67,0.00,0.000,4,0.000,0.078,2157,3615,3380
$GC,4328,-0.59,-146.6,335.0,-8.4,207,4333,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2200,3380
$GC,4650,-0.59,-146.6,357.9,-7.0,223,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2199,3380
$GC,4959,-0.59,-146.6,379.1,-6.9,238,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3380
$GC,5269,-0.59,-146.6,401.1,-7.0,253,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3380
$GC,5578,-0.59,-146.6,422.7,-6.7,268,5582,0.00,2.70,0.00,0.000,4,0.000,0.077,2157,3622,3380
$GC,5611,-0.59,-146.6,425.1,-7.2,269,5617,0.00,2.58,0.00,0.000,6,0.000,0.053,2157,2200,3380
$GC,5927,-0.59,-146.6,446.0,-6.6,285,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3380
$GC,6236,-0.59,-146.6,467.1,-7.2,300,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3380
$GC,6545,-0.59,-146.6,489.5,-7.3,315,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3379
$GC,6854,-0.59,-146.6,512.8,-7.3,330,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2199,3379
$GC,7164,-0.59,-146.6,536.1,-7.7,345,7168,0.00,2.70,0.00,0.000,4,0.000,0.078,2157,3622,3379
$GC,7208,-0.59,-146.6,540.2,-9.3,347,7212,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2196,3379
$GC,7528,-0.59,-146.6,566.6,-8.2,363,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2196,3379
$GC,7838,-0.59,-146.6,590.2,-7.2,378,7843,0.00,2.70,0.00,0.000,4,0.000,0.077,2157,3619,3379
$GC,7872,-0.59,-146.6,592.8,-8.0,379,7878,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2194,3379
$GC,8187,-0.59,-146.6,611.7,-5.7,395,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3379
$GC,8497,-0.59,-146.6,628.3,-5.9,410,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3379
$GC,8806,-0.59,-146.6,653.8,-9.0,425,8810,0.00,2.67,0.00,0.000,4,0.000,0.078,2157,3613,3378
$GC,8849,-0.59,-146.6,658.0,-10.0,427,8854,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2199,3379
$GC,9171,-0.59,-146.6,682.1,-6.1,443,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3378
$GC,9482,-0.59,-146.6,700.8,-6.0,458,9487,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3618,3378
$GC,9545,-0.59,-146.6,705.3,-7.4,461,9549,0.00,2.58,0.00,0.000,6,0.000,0.054,2157,2200,3378
$GC,9876,-0.59,-146.6,726.0,-6.1,477,9880,0.00,2.62,0.00,0.000,4,0.000,0.068,2157,785,3377
$GC,9926,-0.66,-146.6,729.3,-6.5,479,9930,0.00,2.60,0.00,0.000,6,0.000,0.055,2157,2206,3377
$GC,10241,-0.66,-146.6,749.3,-6.3,494,10246,0.00,2.67,0.00,0.000,4,0.000,0.084,2157,3610,3377
$GC,10285,-0.66,-146.6,752.3,-7.3,496,10289,0.00,2.58,0.00,0.000,6,0.000,0.057,2157,2202,3377
$GC,10605,-0.66,-146.6,773.4,-7.9,512,10610,0.00,2.65,0.00,0.000,4,0.000,0.069,2157,782,3376
$GC,10639,-0.73,-146.6,775.4,-6.0,513,10645,0.00,2.62,0.00,0.000,6,0.000,0.058,2157,2205,3376
$STATE,10891,end dive,NO_VERTICAL_VELOCITY
$STATE,10891,begin apogee
$GC,10898,-0.31,0.0,779.0,0.0,526,11034,0.35,0.00,133.18,1.167,6,0.081,0.000,2230,2241,2781
$STATE,11035,end apogee,CONTROL_FINISHED_OK
$STATE,11035,begin climb
$GC,11038,0.85,146.6,778.8,0.0,533,11181,1.17,2.80,131.70,1.143,4,0.076,0.066,2479,818,2182
$GC,11320,0.86,164.0,768.3,5.5,546,11342,0.00,2.67,16.60,1.049,6,0.000,0.058,2479,2238,2112
$GC,11651,0.91,209.9,749.9,4.7,562,11695,0.00,0.00,42.05,1.111,6,0.000,0.000,2479,2238,1925
$GC,12001,1.01,248.0,732.2,5.0,579,12044,0.15,2.75,35.33,1.100,4,0.055,0.069,2519,827,1769
$GC,12072,1.01,248.0,727.4,6.7,582,12076,0.00,2.65,0.00,0.000,6,0.000,0.057,2519,2240,1769
$GC,12393,1.01,248.0,703.3,7.4,598,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1769
$GC,12701,1.01,248.0,679.6,7.7,613,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1768
$GC,13011,1.01,248.0,653.2,8.7,628,13015,0.00,2.70,0.00,0.000,4,0.000,0.084,2519,3652,1767
$GC,13050,1.01,248.0,649.7,9.7,630,13055,0.00,2.62,0.00,0.000,6,0.000,0.059,2519,2237,1767
$GC,13377,1.01,248.0,624.7,7.6,646,13382,0.00,2.72,0.00,0.000,4,0.000,0.080,2519,3651,1767
$GC,13462,1.01,248.0,617.3,8.6,650,13467,0.00,2.62,0.00,0.000,6,0.000,0.058,2519,2236,1766
$GC,13789,1.01,248.0,591.5,8.2,666,13793,0.00,2.65,0.00,0.000,4,0.000,0.070,2519,824,1766
$GC,13828,1.01,248.0,588.3,8.4,668,13833,0.00,2.62,0.00,0.000,6,0.000,0.054,2519,2241,1765
$GC,14155,1.01,248.0,563.0,7.5,684,14160,0.00,2.70,0.00,0.000,4,0.000,0.078,2519,3659,1765
$GC,14200,1.01,248.0,559.3,7.9,686,14204,0.00,2.60,0.00,0.000,6,0.000,0.057,2519,2241,1765
$GC,14520,1.01,248.0,535.5,7.3,702,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1765
$GC,14830,1.01,248.0,512.9,7.5,717,14831,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1765
$GC,15139,1.01,248.0,490.0,7.5,732,15143,0.00,2.65,0.00,0.000,4,0.000,0.067,2519,820,1766
$GC,15171,1.01,248.0,487.4,7.5,733,15178,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2242,1766
$GC,15487,1.01,248.0,464.4,7.3,749,15492,0.00,2.67,0.00,0.000,4,0.000,0.077,2519,3657,1766
$GC,15527,1.01,248.0,461.4,7.5,751,15531,0.00,2.60,0.00,0.000,6,0.000,0.056,2519,2240,1766
$GC,15853,1.01,248.0,439.3,6.6,767,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2241,1767
$GC,16163,1.01,248.0,419.7,6.2,782,16164,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2241,1767
$GC,16472,1.01,248.0,399.6,6.4,797,16473,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1767
$GC,16781,1.01,248.0,379.1,6.5,812,16785,0.00,2.70,0.00,0.000,4,0.000,0.079,2519,3653,1768
$GC,16814,1.01,248.0,376.5,8.0,813,16820,0.00,2.60,0.00,0.000,6,0.000,0.056,2519,2239,1768
$GC,17130,1.01,248.0,355.0,6.9,829,17134,0.00,2.62,0.00,0.000,4,0.000,0.067,2519,826,1768
$GC,17162,1.01,248.0,352.5,6.8,830,17169,0.00,2.60,0.00,0.000,6,0.000,0.054,2519,2245,1768
$GC,17478,1.01,248.0,329.8,7.3,846,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2246,1768
$GC,17788,1.01,248.0,306.7,7.5,861,17789,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2246,1769
$GC,18097,1.01,248.0,284.2,7.1,876,18098,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2246,1769
$GC,18406,1.01,248.0,262.7,6.8,891,18407,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2245,1769
$GC,18716,1.01,248.0,241.4,7.0,906,18717,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2246,1769
$GC,19024,1.01,248.0,218.6,7.4,921,19029,0.00,2.65,0.00,0.000,4,0.000,0.077,2519,3654,1770
$GC,19064,1.01,248.0,215.4,7.9,923,19068,0.00,2.60,0.00,0.000,6,0.000,0.056,2519,2236,1770
$GC,19391,1.01,248.0,191.6,7.2,939,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2236,1770
$GC,19700,1.01,248.0,170.2,6.5,954,19701,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2236,1770
$GC,20009,1.01,248.0,149.5,6.7,969,20010,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2236,1770
$GC,20319,1.03,268.7,131.4,5.4,984,20344,0.00,2.78,18.75,0.693,4,0.000,0.076,2519,3651,1685
$GC,20395,1.03,268.7,126.0,7.8,987,20399,0.00,2.62,0.00,0.000,6,0.000,0.056,2519,2234,1685
$GC,20711,1.03,268.7,100.9,8.8,1002,20715,0.00,2.62,0.00,0.000,4,0.000,0.066,2519,824,1684
$GC,20783,1.03,268.7,94.6,9.2,1005,20787,0.00,2.60,0.00,0.000,6,0.000,0.052,2519,2240,1685
$GC,21101,1.03,268.7,70.0,7.4,1020,21102,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2240,1685
$GC,21408,1.03,268.7,46.0,7.3,1035,21413,0.00,2.62,0.00,0.000,4,0.000,0.062,2519,826,1685
$GC,21458,1.03,268.7,42.1,7.5,1037,21463,0.00,2.60,0.00,0.000,6,0.000,0.051,2518,2251,1685
$GC,21774,1.03,268.7,21.6,6.2,1052,21779,0.00,2.65,0.00,0.000,4,0.000,0.063,2518,823,1685
$GC,21819,1.03,268.7,18.6,6.5,1054,21823,0.00,2.58,0.00,0.000,6,0.000,0.051,2518,2239,1685
$STATE,22075,end climb,SURFACE_DEPTH_REACHED
$STATE,22075,begin surface coast
$FINISH,0.7,1.027086
$STATE,22098,end surface coast,CONTROL_FINISHED_OK
$STATE,22099,begin surface
$SM_CCo,22121,139.18,0.612,0,0,508,557.32
$SM_GC,1.39,0.00,0.00,139.18,0.000,0.000,0.612,71,2192,508,-10.25,-0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1854
$TCM_TEMP,18.00
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,23.6,29.278
$10V_AH,10.1,14.445
$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,23.900,148.125,377.600,139.175,0.000,33.566,43.276,165.426,14.250,0.000,0.000,13.547,1879.834,17307.293,705.802,2160.435,573.612,0.000,1771.318,0.000,2112.177,0.000,53.684
$DEVICE_MAMPS,167.973,103.545,1167.374,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,782.647,730.918,627.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53655,1068
$CAP_FILE_SIZE,142943,0
$CFSIZE,260165632,248541184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090708,152255,6231.135,-1136.615,29,1.6,47,-11.0