version: 66.03
glider: 16
mission: 9
dive: 166
start: 7 9 108 15 28 59
data:
$ID,16
$MISSION,9
$DIVE,166
$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,-2096445.2
$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,2200
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,18
$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
$GPS1,152255,6231.135,-1136.615,29,1.6,47,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-54.2
$GPS2,152841,6231.154,-1136.682,12,3.4,31,-11.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$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,305.0,40316,-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,-121.18,0.000,2,0.000,0.000,71,2193,3077
$GC,153,-0.85,-146.6,4.6,-3.9,6,178,11.43,2.75,-6.25,0.000,4,0.168,0.084,2108,3612,3381
$GC,423,-0.66,-146.6,42.8,-12.1,18,428,0.25,2.58,0.00,0.000,6,0.091,0.054,2157,2208,3381
$GC,752,-0.66,-146.6,73.8,-9.9,34,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2206,3381
$GC,1059,-0.66,-146.6,102.5,-8.8,49,1063,0.00,2.65,0.00,0.000,4,0.000,0.063,2157,775,3382
$GC,1099,-0.66,-146.6,105.6,-7.8,51,1103,0.00,2.62,0.00,0.000,6,0.000,0.053,2157,2203,3381
$GC,1425,-0.66,-146.6,126.5,-6.0,67,1430,0.00,2.67,0.00,0.000,4,0.000,0.076,2157,3618,3382
$GC,1481,-0.66,-146.6,130.0,-6.2,69,1487,0.00,2.58,0.00,0.000,6,0.000,0.052,2157,2200,3382
$GC,1797,-0.66,-146.6,149.5,-6.5,85,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3382
$GC,2105,-0.66,-146.6,172.2,-7.7,100,2110,0.00,2.70,0.00,0.000,4,0.000,0.078,2157,3612,3381
$GC,2156,-0.66,-146.6,176.4,-8.3,102,2160,0.00,2.58,0.00,0.000,6,0.000,0.053,2157,2199,3382
$GC,2474,-0.66,-146.6,200.9,-7.3,117,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2199,3382
$GC,2781,-0.66,-146.6,222.6,-7.1,132,2785,0.00,2.70,0.00,0.000,4,0.000,0.079,2157,3613,3381
$GC,2836,-0.66,-146.6,227.0,-7.2,134,2842,0.00,2.58,0.00,0.000,6,0.000,0.051,2158,2195,3381
$GC,3156,-0.66,-146.6,250.9,-7.9,150,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3381
$GC,3462,-0.66,-146.6,276.2,-8.3,165,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3381
$GC,3770,-0.66,-146.6,302.1,-8.4,180,3775,0.00,2.72,0.00,0.000,4,0.000,0.081,2157,3616,3381
$GC,3833,-0.66,-146.6,307.6,-8.4,183,3837,0.00,2.58,0.00,0.000,6,0.000,0.053,2157,2200,3381
$GC,4159,-0.66,-146.6,333.3,-7.4,199,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2200,3381
$GC,4468,-0.66,-146.6,356.4,-7.5,214,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3380
$GC,4777,-0.66,-146.6,380.6,-7.9,229,4782,0.00,2.70,0.00,0.000,4,0.000,0.080,2158,3614,3380
$GC,4818,-0.66,-146.6,384.0,-8.9,231,4822,0.00,2.58,0.00,0.000,6,0.000,0.052,2159,2198,3380
$GC,5145,-0.66,-146.6,408.6,-7.2,247,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2198,3380
$GC,5453,-0.66,-146.6,429.9,-6.6,262,5458,0.00,2.70,0.00,0.000,4,0.000,0.081,2158,3612,3380
$GC,5503,-0.66,-146.6,433.5,-7.5,264,5508,0.00,2.58,0.00,0.000,6,0.000,0.052,2158,2192,3380
$GC,5819,-0.66,-146.6,453.2,-6.1,279,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2192,3380
$GC,6128,-0.66,-146.6,473.6,-7.0,294,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2192,3380
$GC,6438,-0.66,-146.6,496.4,-7.5,309,6442,0.00,2.72,0.00,0.000,4,0.000,0.080,2157,3618,3380
$GC,6484,-0.66,-146.6,500.1,-8.2,311,6488,0.00,2.58,0.00,0.000,6,0.000,0.051,2157,2198,3380
$GC,6804,-0.66,-146.6,524.5,-7.5,327,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2198,3379
$GC,7114,-0.66,-146.6,548.1,-7.6,342,7118,0.00,2.67,0.00,0.000,4,0.000,0.080,2157,3610,3379
$GC,7163,-0.66,-146.6,552.2,-8.3,344,7168,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2200,3379
$GC,7480,-0.66,-146.6,575.4,-7.7,359,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3379
$GC,7789,-0.66,-146.6,599.7,-7.9,374,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3379
$GC,8097,-0.66,-146.6,622.2,-6.7,389,8102,0.00,2.67,0.00,0.000,4,0.000,0.081,2157,3610,3379
$GC,8137,-0.66,-146.6,624.9,-6.9,391,8142,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2201,3379
$GC,8470,-0.66,-146.6,644.3,-5.7,407,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2200,3379
$GC,8778,-0.66,-146.6,663.5,-6.3,422,8783,0.00,2.70,0.00,0.000,4,0.000,0.081,2157,3615,3379
$GC,8828,-0.66,-146.6,666.9,-7.0,424,8833,0.00,2.58,0.00,0.000,6,0.000,0.053,2157,2195,3378
$GC,9144,-0.66,-146.6,688.5,-7.4,439,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2193,3378
$GC,9453,-0.66,-146.6,710.5,-7.1,454,9457,0.00,2.72,0.00,0.000,4,0.000,0.083,2158,3615,3378
$GC,9493,-0.66,-146.6,713.2,-7.1,456,9497,0.00,2.60,0.00,0.000,6,0.000,0.056,2158,2194,3377
$GC,9820,-0.66,-146.6,732.8,-5.9,472,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2194,3377
$GC,10128,-0.66,-146.6,751.2,-6.7,487,10133,0.00,2.72,0.00,0.000,4,0.000,0.085,2158,3609,3376
$GC,10172,-0.70,-146.6,754.3,-6.8,489,10177,0.00,2.60,0.00,0.000,6,0.000,0.058,2158,2192,3376
$STATE,10244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10244,begin apogee
$GC,10251,-0.31,0.0,758.8,6.1,493,10387,0.35,0.00,132.45,1.149,6,0.094,0.000,2228,2239,2781
$STATE,10388,end apogee,CONTROL_FINISHED_OK
$STATE,10388,begin climb
$GC,10390,0.85,146.6,764.5,0.0,500,10527,1.20,0.00,132.18,1.127,6,0.081,0.000,2478,2239,2183
$GC,10826,0.89,186.5,747.6,4.9,521,10865,0.00,0.00,36.62,1.092,6,0.000,0.000,2478,2239,2020
$GC,11172,0.97,221.6,729.5,5.0,538,11214,0.15,2.78,32.40,1.088,4,0.054,0.070,2523,827,1876
$GC,11238,0.90,221.6,724.9,7.3,541,11244,0.15,2.67,0.00,0.000,6,0.089,0.058,2493,2242,1875
$GC,11566,0.90,221.6,703.1,6.1,557,11570,0.00,2.72,0.00,0.000,4,0.000,0.084,2493,3650,1875
$GC,11616,0.94,221.6,700.0,6.2,559,11620,0.00,2.62,0.00,0.000,6,0.000,0.058,2493,2238,1875
$GC,11932,0.96,241.5,683.1,5.5,574,11956,0.00,2.75,18.88,1.046,4,0.000,0.071,2493,825,1796
$GC,12009,1.01,250.6,678.6,5.7,577,12024,0.12,2.65,9.52,0.957,6,0.054,0.058,2529,2240,1759
$GC,12349,0.97,250.6,648.8,10.2,594,12353,0.00,2.72,0.00,0.000,4,0.000,0.083,2529,3650,1759
$GC,12404,0.92,250.6,642.1,12.4,596,12411,0.15,2.62,0.00,0.000,6,0.091,0.058,2499,2238,1759
$GC,12720,0.92,250.6,616.0,7.5,612,12724,0.00,2.65,0.00,0.000,4,0.000,0.070,2499,828,1758
$GC,12760,0.97,250.6,612.8,8.0,614,12764,0.00,2.62,0.00,0.000,6,0.000,0.057,2499,2240,1758
$GC,13086,0.99,266.8,592.2,5.6,630,13108,0.00,2.78,15.55,0.984,4,0.000,0.078,2499,3656,1694
$GC,13143,1.03,269.5,588.9,5.9,632,13155,0.12,2.65,4.40,0.705,6,0.052,0.056,2537,2236,1682
$GC,13464,0.97,269.5,566.9,6.9,648,13466,0.12,0.00,0.00,0.000,6,0.088,0.000,2512,2236,1681
$GC,13772,0.97,269.5,546.9,6.6,663,13777,0.00,2.65,0.00,0.000,4,0.000,0.067,2512,821,1681
$GC,13823,0.97,269.5,543.5,7.1,665,13827,0.00,2.62,0.00,0.000,6,0.000,0.054,2512,2245,1680
$GC,14138,0.97,269.5,522.0,6.9,680,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2245,1680
$GC,14447,0.97,269.5,500.8,6.7,695,14452,0.00,2.65,0.00,0.000,4,0.000,0.065,2512,827,1681
$GC,14488,0.97,269.5,498.0,7.5,697,14492,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2240,1681
$GC,14814,0.97,269.5,476.9,6.4,713,14815,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1681
$GC,15123,0.97,269.5,456.4,6.7,728,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2243,1681
$GC,15433,0.97,269.5,435.4,6.8,743,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2243,1682
$GC,15741,0.97,269.5,414.1,7.0,758,15746,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,820,1682
$GC,15791,0.97,269.5,410.5,7.0,760,15795,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2240,1683
$GC,16107,0.97,269.5,388.2,7.1,775,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1683
$GC,16416,0.97,269.5,366.5,6.9,790,16417,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1683
$GC,16725,0.97,269.5,346.0,6.3,805,16729,0.00,2.62,0.00,0.000,4,0.000,0.064,2512,822,1683
$GC,16764,0.97,269.5,343.4,6.9,807,16768,0.00,2.60,0.00,0.000,6,0.000,0.052,2512,2240,1684
$GC,17091,0.97,269.5,321.2,7.1,823,17092,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2240,1684
$GC,17399,0.97,269.5,298.1,7.8,838,17404,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,818,1685
$GC,17455,0.97,269.5,293.7,8.2,840,17461,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2242,1684
$GC,17771,0.97,269.5,268.6,8.0,856,17772,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2242,1685
$GC,18080,0.97,269.5,244.1,7.4,871,18081,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2242,1685
$GC,18389,0.97,269.5,222.9,6.5,886,18394,0.00,2.65,0.00,0.000,4,0.000,0.064,2512,821,1685
$GC,18430,0.97,269.5,220.3,6.4,888,18434,0.00,2.60,0.00,0.000,6,0.000,0.053,2512,2241,1685
$GC,18756,0.97,269.5,200.5,6.0,904,18757,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2241,1685
$GC,19065,0.99,284.5,182.3,5.6,919,19085,0.00,0.00,14.57,0.716,6,0.000,0.000,2512,2241,1620
$GC,19396,1.04,290.9,164.0,5.8,935,19409,0.00,2.72,6.97,0.626,4,0.000,0.064,2512,818,1594
$GC,19445,1.09,290.9,160.9,6.0,937,19450,0.12,2.62,0.00,0.000,6,0.048,0.052,2546,2242,1594
$GC,19767,1.05,290.9,136.3,7.7,953,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2242,1594
$GC,20076,1.00,290.9,112.7,7.2,968,20081,0.15,2.65,0.00,0.000,4,0.086,0.064,2512,825,1593
$GC,20142,1.00,290.9,108.3,6.2,971,20147,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2246,1594
$GC,20466,1.00,290.9,85.3,7.7,987,20470,0.00,2.65,0.00,0.000,4,0.000,0.065,2511,826,1594
$GC,20510,1.00,290.9,81.7,7.8,989,20514,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2246,1593
$GC,20831,1.00,290.9,53.1,9.2,1005,20835,0.00,2.65,0.00,0.000,4,0.000,0.075,2511,3652,1594
$GC,20864,1.00,290.9,49.4,11.9,1006,20870,0.00,2.58,0.00,0.000,6,0.000,0.056,2511,2238,1594
$GC,21181,1.00,290.9,20.9,8.4,1022,21185,0.00,2.60,0.00,0.000,4,0.000,0.063,2511,825,1594
$GC,21270,1.00,290.9,14.1,8.2,1026,21274,0.00,2.60,0.00,0.000,6,0.000,0.052,2511,2245,1594
$STATE,21445,end climb,SURFACE_DEPTH_REACHED
$STATE,21446,begin surface coast
$FINISH,0.7,1.008791
$STATE,21466,end surface coast,CONTROL_FINISHED_OK
$STATE,21466,begin surface
$SM_CCo,21488,129.93,0.621,0,0,508,557.32
$SM_GC,1.23,0.00,0.00,129.93,0.000,0.000,0.621,70,2189,508,-10.25,-0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1847
$TCM_TEMP,17.80
$XPDR_PINGS,28
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,700.2,67.8
$24V_AH,23.6,29.439
$10V_AH,10.2,14.540
$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,24.875,164.150,403.550,129.925,0.000,17.977,25.958,155.648,13.500,0.000,0.000,32.062,1863.465,16668.174,741.964,2148.532,539.853,0.000,1802.612,0.000,2086.599,0.000,45.779
$DEVICE_MAMPS,167.973,85.137,1148.966,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,764.150,711.135,599.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50631,1036
$CAP_FILE_SIZE,147098,0
$CFSIZE,260165632,248471552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,090708,213058,6232.078,-1146.817,40,2.1,60,-11.1