version: 66.03
glider: 16
mission: 9
dive: 168
start: 7 10 108 4 11 45
data:
$ID,16
$MISSION,9
$DIVE,168
$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,-2096515.2
$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,24
$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
$GPS1,040525,6233.942,-1153.981,26,1.9,44,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.9
$GPS2,041128,6233.921,-1154.016,34,3.2,53,-11.2
$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,308.2,24799,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.85,-146.6,0.0,0.0,0,149,0.00,0.00,-120.45,0.000,2,0.000,0.000,71,2192,3021
$GC,153,-0.85,-146.6,4.3,-3.8,6,178,11.45,2.72,-7.88,0.000,4,0.169,0.085,2109,3619,3380
$GC,331,-0.67,-146.6,30.7,-11.7,14,336,0.22,2.60,0.00,0.000,6,0.089,0.054,2153,2205,3380
$GC,658,-0.67,-146.6,65.8,-11.7,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2205,3380
$GC,968,-0.62,-146.6,99.0,-10.1,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2206,3381
$GC,1277,-0.58,-146.6,127.7,-9.4,60,1282,0.00,2.70,0.00,0.000,4,0.000,0.078,2153,3613,3381
$GC,1311,-0.53,-146.6,131.5,-10.5,61,1318,0.15,2.58,0.00,0.000,6,0.094,0.052,2183,2200,3381
$GC,1627,-0.58,-146.6,157.7,-8.1,77,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2200,3381
$GC,1936,-0.63,-146.6,180.9,-7.1,92,1940,0.00,2.70,0.00,0.000,4,0.000,0.079,2183,3613,3381
$GC,1982,-0.68,-146.6,184.2,-7.6,94,1987,0.15,2.58,0.00,0.000,6,0.044,0.051,2139,2197,3381
$GC,2304,-0.61,-146.6,212.1,-9.1,110,2305,0.15,0.00,0.00,0.000,6,0.084,0.000,2169,2197,3381
$GC,2612,-0.61,-146.6,233.3,-6.8,125,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2197,3381
$GC,2922,-0.61,-146.6,255.8,-7.5,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2198,3381
$GC,3231,-0.61,-146.6,279.7,-7.8,155,3235,0.00,2.72,0.00,0.000,4,0.000,0.080,2170,3618,3381
$GC,3270,-0.61,-146.6,282.9,-9.0,157,3274,0.00,2.60,0.00,0.000,6,0.000,0.054,2169,2199,3381
$GC,3596,-0.61,-146.6,306.9,-7.2,173,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2199,3381
$GC,3905,-0.61,-146.6,328.2,-6.8,188,3910,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3612,3381
$GC,3944,-0.61,-146.6,331.2,-7.6,190,3949,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2200,3381
$GC,4272,-0.61,-146.6,354.2,-7.1,206,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2200,3380
$GC,4581,-0.61,-146.6,377.1,-7.6,221,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2200,3380
$GC,4892,-0.61,-146.6,401.3,-7.9,236,4897,0.00,2.70,0.00,0.000,4,0.000,0.082,2169,3612,3380
$GC,4937,-0.61,-146.6,405.3,-8.5,238,4941,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2196,3380
$GC,5258,-0.61,-146.6,430.2,-7.2,254,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2196,3380
$GC,5569,-0.61,-146.6,451.3,-6.5,269,5574,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3611,3380
$GC,5609,-0.61,-146.6,453.9,-6.4,271,5614,0.00,2.58,0.00,0.000,6,0.000,0.054,2169,2199,3380
$GC,5936,-0.61,-146.6,473.5,-5.7,287,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2199,3380
$GC,6245,-0.61,-146.6,492.9,-6.8,302,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2199,3380
$GC,6555,-0.61,-146.6,517.2,-8.2,317,6559,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3615,3380
$GC,6604,-0.61,-146.6,521.9,-8.9,319,6609,0.00,2.58,0.00,0.000,6,0.000,0.053,2169,2199,3380
$GC,6920,-0.61,-146.6,549.3,-8.4,334,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2199,3379
$GC,7229,-0.61,-146.6,571.8,-6.4,349,7234,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3613,3379
$GC,7270,-0.61,-146.6,574.5,-7.0,351,7274,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,2196,3380
$GC,7596,-0.61,-146.6,591.8,-4.9,367,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2196,3379
$GC,7905,-0.61,-146.6,610.7,-7.1,382,7910,0.00,2.70,0.00,0.000,4,0.000,0.080,2171,3612,3379
$GC,7949,-0.61,-146.6,614.3,-7.9,384,7954,0.00,2.55,0.00,0.000,6,0.000,0.053,2169,2202,3379
$GC,8271,-0.65,-146.6,641.2,-8.4,400,8275,0.00,2.70,0.00,0.000,4,0.000,0.081,2169,3615,3379
$GC,8321,-0.69,-146.6,645.6,-8.6,402,8325,0.00,2.58,0.00,0.000,6,0.000,0.053,2169,2197,3379
$GC,8637,-0.74,-146.6,667.5,-6.2,417,8639,0.15,0.00,0.00,0.000,6,0.046,0.000,2129,2197,3379
$GC,8947,-0.67,-146.6,689.2,-6.2,432,8952,0.12,2.72,0.00,0.000,4,0.091,0.082,2153,3615,3378
$GC,9014,-0.67,-146.6,693.2,-5.7,435,9018,0.00,2.58,0.00,0.000,6,0.000,0.054,2153,2202,3378
$GC,9335,-0.67,-146.6,711.4,-6.5,451,9339,0.00,2.70,0.00,0.000,4,0.000,0.084,2154,3610,3378
$GC,9368,-0.67,-146.6,714.0,-8.3,452,9374,0.00,2.58,0.00,0.000,6,0.000,0.056,2153,2199,3378
$GC,9683,-0.67,-146.6,738.0,-7.5,468,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2199,3378
$GC,9992,-0.67,-146.6,760.7,-7.5,483,9997,0.00,2.72,0.00,0.000,4,0.000,0.087,2154,3610,3377
$GC,10037,-0.67,-146.6,764.2,-8.1,485,10041,0.00,2.60,0.00,0.000,6,0.000,0.059,2153,2196,3377
$GC,10358,-0.67,-146.6,786.7,-7.0,501,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2196,3377
$GC,10667,-0.67,-146.6,807.3,-7.1,516,10671,0.00,2.75,0.00,0.000,4,0.000,0.089,2153,3612,3376
$STATE,10686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10686,begin apogee
$GC,10695,-0.31,0.0,809.0,6.8,517,10832,0.35,0.00,133.10,1.185,6,0.088,0.000,2227,2241,2781
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10836,0.85,146.6,813.2,0.0,524,10975,1.23,2.80,131.35,1.161,4,0.077,0.070,2481,827,2183
$GC,11121,0.91,202.6,800.2,4.5,537,11177,0.00,2.65,50.80,1.131,6,0.000,0.058,2481,2240,1955
$GC,11500,1.00,247.2,780.4,4.8,556,11550,0.15,2.80,41.20,1.124,4,0.059,0.086,2519,3651,1772
$GC,11579,0.96,247.2,775.1,7.6,559,11585,0.00,2.67,0.00,0.000,6,0.000,0.061,2520,2234,1772
$GC,11894,0.96,247.2,748.6,9.2,575,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2234,1772
$GC,12204,0.96,247.2,719.6,8.7,590,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2234,1771
$GC,12513,0.96,247.2,696.8,6.7,605,12517,0.00,2.78,0.00,0.000,4,0.000,0.085,2520,3657,1770
$GC,12557,0.91,247.2,693.7,7.4,607,12562,0.00,2.65,0.00,0.000,6,0.000,0.060,2520,2232,1770
$GC,12878,0.91,247.2,672.3,7.3,623,12882,0.00,2.75,0.00,0.000,4,0.000,0.082,2520,3653,1770
$GC,12922,0.87,247.2,668.8,8.8,625,12927,0.15,2.62,0.00,0.000,6,0.097,0.058,2491,2234,1770
$GC,13244,0.92,247.2,650.2,6.2,641,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2234,1770
$GC,13554,0.98,247.2,629.6,6.8,656,13555,0.10,0.00,0.00,0.000,6,0.057,0.000,2518,2234,1769
$GC,13862,0.98,247.2,607.3,6.7,671,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2234,1769
$GC,14172,0.98,247.2,586.8,6.9,686,14176,0.00,2.72,0.00,0.000,4,0.000,0.079,2518,3653,1769
$GC,14211,0.98,247.2,583.7,8.2,688,14215,0.00,2.60,0.00,0.000,6,0.000,0.057,2518,2241,1769
$GC,14537,0.98,247.2,558.7,7.6,704,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1769
$GC,14847,0.98,247.2,534.6,8.0,719,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1769
$GC,15156,0.98,247.2,510.3,7.6,734,15160,0.00,2.65,0.00,0.000,4,0.000,0.068,2518,822,1769
$GC,15196,0.98,247.2,507.3,8.0,736,15201,0.00,2.62,0.00,0.000,6,0.000,0.054,2518,2245,1769
$GC,15522,0.98,247.2,481.8,8.0,752,15524,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1769
$GC,15831,0.98,247.2,455.8,8.6,767,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1770
$GC,16141,0.98,247.2,429.8,8.3,782,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1770
$GC,16450,0.98,247.2,405.7,7.5,797,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1770
$GC,16760,0.98,247.2,383.8,6.8,812,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1771
$GC,17068,0.98,247.2,363.4,6.6,827,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2245,1771
$GC,17378,0.98,247.2,343.1,6.8,842,17382,0.00,2.67,0.00,0.000,4,0.000,0.080,2518,3650,1772
$GC,17422,0.98,247.2,339.8,8.0,844,17426,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2241,1771
$GC,17742,0.98,247.2,316.9,7.3,860,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1772
$GC,18052,0.98,247.2,294.2,7.1,875,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1772
$GC,18361,0.98,247.2,273.0,7.0,890,18362,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1772
$GC,18670,0.98,247.2,251.1,7.5,905,18671,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2239,1772
$GC,18979,0.98,247.2,226.9,8.1,920,18981,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1772
$GC,19289,0.98,247.2,201.2,8.2,935,19290,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1773
$GC,19598,0.98,247.2,177.0,7.6,950,19602,0.00,2.70,0.00,0.000,4,0.000,0.079,2518,3653,1773
$GC,19637,0.98,247.2,174.0,8.0,952,19641,0.00,2.60,0.00,0.000,6,0.000,0.058,2518,2241,1773
$GC,19964,0.98,247.2,151.7,6.9,968,19965,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2240,1773
$GC,20273,0.98,247.2,128.5,7.7,983,20274,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1773
$GC,20582,0.98,247.2,106.3,6.8,998,20583,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1773
$GC,20893,0.98,247.2,85.1,6.7,1013,20895,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2241,1773
$GC,21201,0.99,253.7,65.6,5.8,1028,21210,0.00,0.00,7.20,0.581,6,0.000,0.000,2518,2240,1747
$GC,21512,1.04,298.7,50.1,4.8,1043,21551,0.00,0.00,37.47,0.663,6,0.000,0.000,2518,2242,1563
$GC,21862,1.10,298.7,29.4,6.6,1060,21867,0.10,2.65,0.00,0.000,4,0.071,0.065,2544,822,1562
$GC,21902,1.10,298.7,26.1,7.8,1062,21906,0.00,2.60,0.00,0.000,6,0.000,0.052,2544,2237,1561
$STATE,22205,end climb,SURFACE_DEPTH_REACHED
$STATE,22205,begin surface coast
$FINISH,0.6,1.014580
$STATE,22229,end surface coast,CONTROL_FINISHED_OK
$STATE,22229,begin surface
$SM_CCo,22251,126.82,0.624,0,0,509,557.32
$SM_GC,1.38,0.00,0.00,126.82,0.000,0.000,0.624,71,2186,509,-10.25,-0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1854
$TCM_TEMP,17.80
$XPDR_PINGS,29
$ALTIM_TOP_PING,18.3,17.0
$ALTIM_BOTTOM_PING,751.5,67.2
$24V_AH,23.5,29.758
$10V_AH,10.1,14.735
$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,25.250,127.550,401.125,126.825,0.000,18.033,26.841,149.848,14.000,0.000,0.000,54.529,1884.592,17490.146,693.834,2148.017,519.663,0.000,1728.675,0.000,2064.752,0.000,46.151
$DEVICE_MAMPS,168.740,88.972,1185.015,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.586,739.023,619.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53659,1078
$CAP_FILE_SIZE,141937,0
$CFSIZE,260165632,248332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100708,102622,6233.601,-1204.294,38,2.7,58,-11.3